Systems and methods for predictive power requirements and control
An agricultural harvesting system includes a control system. The control system identifies a predictive value of a power characteristic based on a relationship between the power characteristic and a characteristic. The control system generates a control signal to control a controllable subsystem of a mobile agricultural harvesting machine based on the predictive value of the power characteristic.
1 . An agricultural harvesting system comprising:
a control system that:
identifies, during a current operation of a mobile harvesting machine at a worksite, a value of a power characteristic of a material transfer subsystem of the mobile harvesting machine based on a relationship between the power characteristic and a crop characteristic, wherein the relationship comprises a predefined model that provides a value of the power characteristic based on an input value of the crop characteristic, the predefined model generated prior to the current operation of the mobile harvesting machine at the worksite, and wherein
the crop characteristic comprises at least one of cropy type, crop moisture, or crop yield; and
the power characteristic comprises at least one of a required power of the material transfer subsystem or a power usage of the material transfer subsystem; and
generates a control signal to control a controllable subsystem of the mobile harvesting machine based on the identified value of the power characteristic.
2 . The agricultural harvesting system of claim 1 , wherein the predefined model is one of a plurality of different predefined models, each predefined model of the plurality of different predefined models configured to provide a value of the power characteristic based on an input value of the crop characteristic and generated prior to the current operation of the mobile harvesting machine at the worksite, and wherein the control system selects the predefined model from the plurality of different predefined models based on selection criteria.
3 . The agricultural harvesting system of claim 1 and further comprising:
an in-situ power sensor that detects a value of the power characteristic corresponding to a geographic location;
an in-situ sensor that detects a value of the crop characteristic corresponding to the geographic location; and
a predictive model generator that generates a predictive power model that models a relationship between values of the crop characteristic and values of the power characteristic based on the value of the power characteristic detected by the in-situ power sensor corresponding to the geographic location and the value of the characteristic, detected by the in-situ sensor, corresponding to the geographic location; and
wherein the control system generates a subsequent control signal to control the controllable subsystem based on the predictive power model.
4 . The agricultural harvesting system of claim 1 and further comprising:
an in-situ sensor that detects a value of the power characteristic corresponding to a geographic location;
a predictive model generator that:
receives an information map that maps values of the crop characteristic corresponding to different geographic locations; and
generates a predictive power model that models a relationship between values of the crop characteristic and values of the power characteristic based on the value of the power characteristic detected by the in-situ sensor corresponding to the geographic location and a value of the characteristic corresponding to the geographic location to which the detected value of the power characteristic corresponds; and
a predictive map generator that generates a functional predictive power map of the worksite that maps predictive values of the power characteristic to the different geographic locations in the worksite, based on the values of the characteristic in the information map and based on the predictive power model; and
wherein the control system generates a subsequent control signal based on the functional predictive power map.
5 . The agricultural harvesting system of claim 4 wherein the information map comprises of:
a vegetative index map that maps, as the values of the crop characteristic, vegetative index values to the different geographic locations in the worksite;
an optical map that maps, as the values of the crop characteristic, optical characteristic values to the different geographic locations in the worksite;
a seeding map that maps, as the values of the crop characteristic, seeding characteristic values to the different geographic locations in the worksite; or
a crop moisture map that maps, as the values of the crop characteristic, crop moisture values to the different geographic locations in the worksite.
6 . The agricultural harvesting system of claim 1 , wherein the value of the power characteristic is a required amount of power for an auxiliary subsystem.
7 . The agricultural harvesting system of claim 6 , wherein the controllable subsystem comprises a powerplant subsystem, and wherein the control signal controls the powerplant subsystem to adjust a power output by the powerplant subsystem based on the required amount of power for the material transfer subsystem.
8 . The agricultural harvesting system of claim 6 , wherein the controllable subsystem comprises a primary subsystem having an actuator, and wherein the control signal controls the primary subsystem to adjust an operating parameter of the primary subsystem to reduce a power required by the primary subsystem based on the required amount of power for the material transfer subsystem.
9 . A method of controlling a mobile harvesting machine comprising:
obtaining a relationship between a power characteristic of a material transfer subsystem of the mobile harvesting machine and a crop characteristic, wherein the relationship comprises a predefined model that provides a value of the power characteristic based on an input value of the crop characteristic, the predefined model generated prior to a current operation of the mobile harvesting machine at a worksite, and wherein
the crop characteristic comprises at least one of crop type, crop moisture, or crop yield; and
the power characteristic comprises at least one of a required power of the material transfer subsystem or a power usage of the material transfer subsystem;
identifying, during the current operation of the mobile harvesting machine at the worksite, a power characteristic value based on the relationship; and
controlling the mobile harvesting machine based on the identified power characteristic value.
10 . The method of claim 9 , wherein obtaining the relationship comprises selecting the predefined model from a plurality of different predefined models based on selection criteria, each predefined model of the plurality of different predefined models configured to provide a value of the power characteristic based on an input value of the crop characteristic and generated prior to the current operation of the mobile harvesting machine at the worksite.
11 . The method of claim 10 , wherein controlling the mobile harvesting machine comprises adjusting an operating parameter of the material transfer subsystem to reduce the power requirement of the material transfer subsystem.
12 . The method of claim 9 and further comprising:
detecting a value of the power characteristic corresponding to a geographic location;
detecting a value of the crop characteristic corresponding to the geographic location;
generating a predictive model that models a relationship between the power characteristic and the crop characteristic based on the detected value of the power characteristic corresponding to the geographic location and the detected value of the crop characteristic corresponding to the geographic location, the predictive model configured to receive, as a model input, a value of the crop characteristic and generate, as a model output, a predictive value of the power characteristic; and
subsequently controlling the mobile harvesting machine based on the predictive model.
13 . The method of claim 9 and further comprising:
detecting, with an in-situ sensor, a value of the power characteristic corresponding to a geographic location in a worksite;
receiving an information map that maps values of the crop characteristic corresponding to different geographic locations in the worksite;
generating a predictive power model that models a relationship between the power characteristic and the crop characteristic based on the detected value of the power characteristic corresponding to the geographic location and a value of the crop characteristic, from the information map, corresponding to the geographic location to which the detected value of the power characteristic corresponds;
generating a functional predictive map of the worksite, that maps predictive values of the power characteristic to the different geographic locations in the worksite based on values of the crop characteristic in the information map and the predictive power model; and
subsequently controlling the mobile harvesting machine based on the functional predictive map.
14 . A mobile harvesting machine comprising:
a controllable subsystem; and
a control system that:
obtains a value of a characteristic corresponding to a geographic location of the mobile harvesting machine at a worksite during a current operation;
identifies, during the current operation of the mobile harvesting machine at the worksite, a value of a power characteristic cased on a relationship between the power characteristic and the characteristic, wherein the relationship comprises a predefined model that provides a value of the power characteristic based on the obtained value of the characteristic, the predefined model generated prior to a current operation of the mobile harvesting machine at the geographic location at the worksite, and wherein the characteristic is one of: (i) an operating parameter of the mobile harvesting machine; (ii) a characteristic of the worksite at which the mobile harvesting machine operates; (iii) a characteristic of vegetation of the worksite; or (iv) a characteristic of the environment of the worksite; and generates a control signal to control the controllable subsystem based on the relationship.
15 . The mobile harvesting machine of claim 14 and further comprising:
an in-situ power sensor that detects a value of the power characteristic corresponding to a geographic location;
an in-situ sensor that detects a value of the characteristic corresponding to the geographic location; and
a predictive model generator that generates a predictive power model that models a relationship between values of the characteristic and values of the power characteristic based on the value of the power characteristic detected by the in-situ power sensor corresponding to the geographic location and the value of the characteristic, detected by the in-situ sensor, corresponding to the geographic location, the predictive power model configured to receive, as a model input, a value of the characteristic and generate, as a model output, a predictive value of the power characteristic; and
wherein the control system generates a subsequent control signal to control the controllable subsystem based on the predictive power model.
16 . The mobile harvesting machine of claim 14 and further comprising:
an in-situ sensor that detects a value of the power characteristic corresponding to a geographic location;
a predictive model generator that:
receives an information map that maps values of the characteristic corresponding to different geographic locations in the worksite; and
generates, as the relationship, a predictive power model that models a relationship between values of the characteristic and values of the power characteristic based on the value of the power characteristic detected by the in-situ sensor corresponding to the geographic location and a value of the characteristic corresponding to the geographic location to which the detected value of the power characteristic corresponds; and
a predictive map generator that generates a functional predictive power map of the worksite that maps predictive values of the power characteristic to the different geographic locations in the worksite, based on the values of the characteristic in the information map and based on the predictive power model;
a geographic position sensor that detects a geographic location of the mobile harvesting machine at the worksite; and
wherein the control system generates a subsequent control signal to control the controllable subsystem based on the functional predictive power map and the geographic location of the mobile harvesting machine.
17 . The mobile harvesting machine of claim 14 , wherein the control system controls the controllable subsystem to increase power availability for an auxiliary subsystem of the mobile harvesting machine.
18 . The mobile harvesting machine of claim 14 , wherein the characteristic comprises a crop characteristic, the crop characteristic comprises at least one of crop type, crop moisture, or crop yield, and wherein the power characteristic comprises at least one of a required power of a material transfer subsystem of the mobile harvesting machine or a power usage of the material transfer subsystem.
19 . The mobile harvesting machine of claim 14 , Wherein the value is obtained from an in-situ sensor sensing the characteristic at the geographic location during the current operation of the mobile harvesting machine at the worksite.
20 . The mobile harvesting machine of claim 14 , wherein the value is obtained from an information map.