GB2606740A

GB2606740A - Residue monitoring

Info

Publication number: GB2606740A
Application number: GB2107133.7A
Authority: GB
Inventors: Peter Christiansen Martin; Stigaard Laursen Morten; Buchaca Tarragona Ramon; Düring Jensen Kenneth; Smed Bojsen Thomas
Original assignee: AGCO International GmbH
Current assignee: AGCO International GmbH
Priority date: 2021-05-19
Filing date: 2021-05-19
Publication date: 2022-11-23
Also published as: GB202107133D0

Abstract

Systems and methods are provided for monitoring residue material spread from a spreader tool of an agricultural machine 10. A transceiver type sensor 30a is provided having a sensing region rearwards of the agricultural machine. An imaging sensor 30b is provided having an imaging region which is also rear of the machine and at least partly coincides with the sensing region of the transceiver sensor; and one or more controllers. Using sensing data from both sensors, a characteristic of each of one or more residue material objects is identified. Using this, operation of one or more systems of the agricultural machine is controlled in dependence on the determined characteristic.

Description

Residue Monitoring

TECHNICAL FIELD

The present invention relates, in general, to systems and methods for monitoring residue spread from a harvesting machine, and optionally controlling the harvesting process based thereon.

BACKGROUND

Agricultural combines work to cut crop material from a field before separating the grain from the material other than grain (MOG) (referred to interchangeably as "residue") on board. Generally, the grain is transferred to a grain bin of the combine (where it may be temporarily stored) and the MOG is deposited back onto the field. A second operation may be performed to gather the deposited MOG, or the MOG may be used as a fertiliser for the soil in the field. In either case, it is important for the MOG to be distributed evenly during deposition, in order to ensure an efficient second harvesting operation (e.g. bailing of the MOG) or to ensure effective fertilisation of the soil. When residue is unevenly distributed over a field, not only are exposed areas at risk for erosion, but inconsistencies in soil temperatures and moisture also may cause uneven plant emergence the following year, hurting yield. Ideally, residue should be spread consistently and managed to promote uniform rapid warming and drying in the spring for earlier planting and sufficient seed germination. It is also important not to spread MOG or residue into standing crop adjacent to the machine -i.e. the crop to be harvested on the next pass by the machine -as spreading into standing crop may result in the same area being spread twice causing an unwanted built of residue in a given area, again leading to uniformity issues.

Some systems additionally employ a chopper tool within the flow path of material through the combine to cut the residue material, e.g. individual pieces of straw, to a desired length to better aid uniformness of the spread material.

It would be advantageous to improve upon known systems such that the distribution and/or composition of material from an agricultural machine can be monitored and optionally controlled more effectively and efficiently.

SUMMARY OF THE INVENTION

In an aspect of the invention there is provided a system for monitoring residue material spread from a spreader tool of an agricultural machine, the system comprising: a transceiver sensor having a sensing region rearwards of the agricultural machine; an imaging sensor having a imaging region rearwards of the agricultural machine which at least partly coincides with the sensing region of the transceiver sensor; and one or more controllers, configured to: receive sensor data from the transceiver sensor and the imaging sensor; determine, from the sensor data received from the transceiver sensor, a position of one or more residue material objects within the sensing region; determine, from the sensor data received from the imaging sensor and in dependence on the respective position of the one or more residue material objects, a characteristic of each of the one or more residue material objects; and output one or more control signals for controlling operation of one or more systems of the agricultural machine in dependence on the determined characteristic.

Advantageously, the system of the present invention utilises two sensors to determine a position of residue material objects within the environment of the machine, determine a characteristic of the objects and use this characteristic to control operation of one or more systems of the machine.

When used here and throughout the specification, a "transceiver" sensor is to be understood as a sensor including a transmitting component for transmitting a measurement signal and a receiving component for receiving reflected measurement signals. The sensor may comprise a RADAR sensor, LIDAR sensor, infrared sensor, or the like, for example. In presently preferred embodiments the transceiver sensor comprises a three-dimensional LIDAR sensor, having a three-dimensional sensing region. The transceiver sensor may be mounted or otherwise coupled to the rear of the agricultural machine.

The imaging sensor preferably comprises a camera. The imaging sensor may be mounted or otherwise coupled to the rear of the agricultural. In embodiments, the imaging sensor is mounted or otherwise coupled to an unloading auger of the agricultural machine, and provides a generally "top-down" view of the environment rear of the agricultural machine, in use.

The characteristic of the residue material object(s) may comprise a length of the objects(s). The length of the object(s) may be indicative of the operation of a chopper assembly of the agricultural machine. Accordingly, the one or more controllers may be configured to determine an operational parameter of a chopper assembly of the agricultural machine in dependence on the determined characteristic.

The one or more controllers may be configured to map the sensor data received from the transceiver sensor onto a three-dimensional measurement region rear of the machine in dependence on a known positional relationship between the transceiver sensor and the measurement region. Likewise, the one or more controllers may be configured to map the sensor data received from the imaging sensor onto the three-dimensional measurement region in dependence on a known positional relationship between the imaging sensor and the measurement region. The one or more controllers may be configured to determine, from the sensor data received from the transceiver sensor, a position of one or more residue material objects within the measurement region. The one or more controllers may be configured to determine, from the sensor data received from the transceiver sensor, a positional relationship between the one or more residue material objects and the imaging sensor. This may comprise a distance between the one or more residue material objects and the imaging sensor (with knowledge of the position of the imaging sensor within or relative to the measurement region); and/or a height of the one or more residue material objects above a ground surface.

The one or more controllers may be configured to determine, from the sensor data received from the imaging sensor, a relative size of the one or more residue material objects within image(s) obtained by the sensor data. In embodiments, the one or more controllers may comprise or may be communicably coupled to an image processing module for identifying residue material objects with the image(s) and determining from the image(s) a relative size of the object(s). The image processing module may be configured to analyse, pixel-wise, the image data obtained by the imaging sensor to identify and determine the position and relative size (e.g. number of pixels) of residue material objects. This may include classifying each pixel value (e.g. RGB/greyscale values, etc.) to either residue material or background, and use the classified pixels to determine the relative size of material objects therefrom. The classification may be performed based on a classifier determined in dependence on a learned model trained on a set of training images of residue material objects in a known position within the image data. In alternative embodiments, the image processing module may be configured to overlay a bounding box encompassing the residue material pieces in the image data, and the size of the bounding box (e.g. with respect to the entire field of view of the camera, in terms of angular span in the image, for example) may be used to determine the relative size of the residue material object(s).

Using the position of the residue material objects relative to the imaging sensor, e.g. as determined in dependence on the sensor data received from the transceiver sensor, the one or more controllers may be operable to determine an actual size of the identified residue material objects, and preferably a length of the residue material objects. Advantageously, the system of the invention may determine a length of the residue material objects to assess the effectiveness of the operation of a chopper assembly of the agricultural machine.

The one or more controllers may be configured to determine, from the determination of the actual size of one or more residue material objects, a maximum identified length of residue material objects being spread by the spreader tool. The presence of objects / straw with a length longer than a desired / optimal length may indicate a necessity to change one or more operational parameters of the chopper assembly or the machine itself. The one or more controllers may be configured to determine, from the determination of the actual size of one or more residue material objects, an average identified length of residue material objects being spread by the spreader tool. The one or more controllers may be configured to determine, from the determination of the actual size of one or more residue material objects, a distribution of lengths of residue material objects being spread by the spreader tool. A large variation in lengths across multiple residue objects may indicate a need to replace or sharpen cutting element(s) of the chopper assembly, such as one or more cutting blades.

In embodiments, the one or more systems of the agricultural machine controllable by the system of the present aspect may include a user interface, e.g. a display means, which may provide information, for example to an operator of the determined characteristic. This may comprise providing an audible or visual indicator to the operator of the determined characteristic. For example, the user interface may be operable to or be instructed by the one or more controllers (e.g. through control signals output by the one or more controllers) to display or otherwise indicate an error state when the observed residue distribution differs from a predetermined state (which may be user selected). For example, an operator may select a desired chopping length of the residue material and the system may be configured to output an indicator if the determined characteristic indicates that the chopping length differs from the desired length, or differs from the desired length by a predetermined amount.

In further embodiments, the system may be operable to control one or more operating parameters of the agricultural machine in dependence on the determined characteristic. The one or more operating parameters may comprise a forward speed of the agricultural machine. Advantageously, changing the forward speed may provide control over a feed rate of material through a chopping assembly of the machine. The one or more operating parameters may include an operating setting of one or more sub-assemblies of the agricultural machine, including an operating speed of an implement of the machine, such as a reel speed or the like of a combine header. The one or more operating parameters may include an operating speed of a grain processing assembly, such as a cleaning assembly of the machine. Controlling one or more of the sub-assemblies of the machine may advantageously provide control over the feed rate of the material to a chopping assembly of the machine. The one or more operating parameters may include operating parameters of a chopping assembly of the machine, which may include controlling an operating speed or operating frequency of the chopper tool.

The system may be configured to output, e.g. via the user interface, one or more indicators of suggested operating parameter settings to change the determined characteristic, for example to improve chopping consistency of a chopper assembly of the machine. This may include suggesting changing a forward speed of the machine, an operating setting of one or more sub-assemblies of the machine, and/or an operational setting of the chopper assembly itself.

In a further aspect of the invention there is provided a control system for monitoring residue material spread from a spreader tool of an agricultural machine, the control system comprising one or more controllers, and being configured to: receive sensor data from a transceiver sensor having a sensing region rear of the agricultural machine; receive sensor data from an imaging sensor having an imaging region rear of the machine and at least partly coinciding with the sensing region of the transceiver sensor; determine, from the sensor data received from the transceiver sensor, a position of one or more residue material objects within the sensing region; determine, from the sensor data received from the imaging sensor and in dependence on the respective position of the one or more residue material objects, a characteristic of each of the one or more residue material objects; and output one or more control signals for controlling operation of one or more systems of the agricultural machine in dependence on the determined characteristic.

The one or more controllers may collectively comprise an input (e.g. an electronic input) for receiving one or more input signals indicative of the sensor data from either or both of the transceiver sensor and the imaging sensor. The one or more controllers may collectively comprise one or more processors (e.g. electronic processors) operable to execute computer readable instructions for controlling operation of the control system, for example to determine the characteristic from the received sensor data. The one or more processors may be operable to generate one or more control signals for controlling operation of the one or more systems in dependence on the determined characteristic. The one or more controllers may collectively comprise an output (e.g. an electronic output) for outputting the one or more control signals.

The one or more controllers of the control system may be configured in any manner of the one or more controllers of the system described hereinabove with reference to the first aspect of the invention.

According to another aspect of the invention there is provided an agricultural machine comprising the system or control system of any preceding aspect.

Optionally, the agricultural machine may comprise a harvesting vehicle, such as a combine harvester, for example.

In a further aspect of the invention there is provided a method of monitoring residue material spread from a spreader tool of an agricultural machine, comprising: receiving sensor data from a transceiver sensor having a sensing region rear of the agricultural machine; receiving sensor data from an imaging sensor having an imaging region rear of the machine and at least partly coinciding with the sensing region of the transceiver sensor; determining, from the sensor data received from the transceiver sensor, a position of one or more residue material objects within the sensing region; determining, from the sensor data received from the imaging sensor and in dependence on the respective position of the one or more residue material objects, a characteristic of each of the one or more residue material objects; and outputting one or more control signals for controlling operation of one or more systems of the agricultural machine in dependence on the determined characteristic.

The characteristic of the residue material object(s) may comprise a length of the objects(s). The length of the object(s) may be indicative of the operation of a chopper assembly of the agricultural machine. Accordingly, the the method may comprise determining an operational parameter of a chopper assembly of the agricultural machine in dependence on the determined characteristic.

Optionally, the sensor data received from the transceiver sensor may be mapped onto a three-dimensional measurement region rear of the machine in dependence on a known positional relationship between the transceiver sensor and the measurement region. Likewise, the sensor data received from the imaging sensor may be mapped onto the three-dimensional measurement region in dependence on a known positional relationship between the imaging sensor and the measurement region. The method may comprise determining, from the sensor data received from the transceiver sensor, a position of one or more residue material objects within the measurement region. The method may comprise determining, from the sensor data received from the transceiver sensor, a positional relationship between the one or more residue material objects and the imaging sensor. This may comprise a distance between the one or more residue material objects and the imaging sensor (with knowledge of the position of the imaging sensor within or relative to the measurement region); and/or a height of the one or more residue material objects above a ground surface.

The method may comprise determining, from the sensor data received from the imaging sensor, a relative size of the one or more residue material objects within image(s) obtained by the sensor data. In embodiments, the method may comprise identifying residue material objects with the image(s) and determining from the image(s) a relative size of the object(s). The method may include analysing, pixel-wise, the image data obtained by the imaging sensor to identify and determine the position and relative size (e.g. number of pixels) of residue material objects. This may include classifying each pixel value (e.g. RGB/greyscale values, etc.) to either residue material or background, and use the classified pixels to determine the relative size of material objects therefrom. The classification may be performed based on a classifier determined in dependence on a learned model trained on a set of training images of residue material objects in a known position within the image data. In alternative embodiments, the method may comprise applying a bounding box encompassing the residue material pieces in the image data, and the size of the bounding box (e.g. with respect to the entire field of view of the camera, in terms of angular span in the image, for example) may be used to determine the relative size of the residue material object(s).

Using the position of the residue material objects relative to the imaging sensor, e.g. as determined in dependence on the sensor data received from the transceiver sensor, an actual size of the identified residue material objects may be determined, and preferably a length of the residue material objects may be determined.

The method may comprise determining, from the determination of the actual size of one or more residue material objects, a maximum identified length of residue material objects being spread by the spreader tool. The presence of objects / straw with a length longer than a desired / optimal length may indicate a necessity to change one or more operational parameters of the chopper assembly or the machine itself. The method may comprise determining, from the determination of the actual size of one or more residue material objects, an average identified length of residue material objects being spread by the spreader tool. The method may comprise determining, from the determination of the actual size of one or more residue material objects, a distribution of lengths of residue material objects being spread by the spreader tool. A large variation in lengths across multiple residue objects may indicate a need to replace or sharpen cutting element(s) of the chopper assembly, such as one or more cutting blades.

In embodiments, the one or more systems of the agricultural machine may include a user interface, e.g. a display means, which may provide information, for example to an operator of the determined characteristic. This may comprise providing an audible or visual indicator to the operator of the determined characteristic. For example, the method may comprise using the user interface to display or otherwise indicate an error state when the observed residue distribution differs from a predetermined state (which may be user selected). For example, an operator may select a desired chopping length of the residue material and the system may be configured to output an indicator if the determined characteristic indicates that the chopping length differs from the desired length, or differs from the desired length by a predetermined amount.

In further embodiments, the method may include controlling one or more operating parameters of the agricultural machine in dependence on the determined characteristic. The one or more operating parameters may comprise a forward speed of the agricultural machine. Advantageously, changing the forward speed may provide control over a feed rate of material through a chopping assembly of the machine. The one or more operating parameters may include an operating setting of one or more sub-assemblies of the agricultural machine, including an operating speed of an implement of the machine, such as a reel speed or the like of a combine header. The one or more operating parameters may include an operating speed of a grain processing assembly, such as a cleaning assembly of the machine. Controlling one or more of the sub-assemblies of the machine may advantageously provide control over the feed rate of the material to a chopping assembly of the machine. The one or more operating parameters may include operating parameters of a chopping assembly of the machine, which may include controlling an operating speed or operating frequency of the chopper tool.

The method may comprise outputting, e.g. via the user interface, one or more indicators of suggested operating parameter settings to change the determined characteristic, for example to improve chopping consistency of a chopper assembly of the machine. This may include suggesting changing a forward speed of the machine, an operating setting of one or more sub-assemblies of the machine, and/or an operational setting of the chopper assembly itself.

In a further aspect of the invention there is provided computer software comprising computer readable instructions which, when executed by one or more processors, causes performance of the method of the preceding aspect of the invention.

A further aspect of the invention provides a computer readable storage medium comprising the computer software of the preceding aspect of the invention. Optionally, the storage medium comprises a non-transitory computer readable storage medium.

Within the scope of this application it should be understood that the various aspects, embodiments, examples and alternatives set out herein, and individual features thereof may be taken independently or in any possible and compatible combination. Where features are described with reference to a single aspect or embodiment, it should be understood that such features are applicable to all aspects and embodiments unless otherwise stated or where such features are incompatible.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 is a schematic side cross-sectional view of an agricultural harvester embodying aspects of the invention; Figure 2 is a schematic view of an embodiment of a control system of the invention; Figure 3 is an image obtained by an imaging sensor and illustrates an operational use of aspects of the invention; and Figure 4 is a section of the image shown in Figure 3, further illustrating aspects of the invention.

DETAILED DESCRIPTION

Figure 1 illustrates an agricultural machine. and specifically a combine 10, embodying aspects of the present invention.

The combine 10 is coupled to a header 12 which is operable, in use, to cut and gather a strip of crop material as the combine 10 is driven across a field / area to be harvested during a harvesting operation. A conveyor section 14 conveys the cut crop material from the header 12 into a crop processing apparatus 16 operable to separate grain and non-grain (i.e. material other than grain (MOG) or residue material (used interchangeably herein)) as will be appreciated. It is noted here that apparatus for separating grain and non-grain material are well-known in the art and the present invention is not limited in this sense. The skilled person will appreciate that numerous different configurations for the crop processing apparatus may be used as appropriate. Clean grain separated from the cut crop material is collected in a grain bin 18, which may be periodically emptied, e.g. into a collection vehicle, storage container, etc. utilising unloading auger 20. Non-grain material, referred to interchangeably as "residue material" or "MOG", is here transferred to a chopper assembly 29, operable to cut the residue material. It will be appreciated, and is discussed herein, that operational settings of the chopper assembly 29 The cut non-grain material (MOG) / residue material is then moved to a spreader tool 22 which is operable in use to eject the cut non-grain material or MOG from the rear of the combine 10 and onto the ground. In Figure 1, this is represented by arrow 24 which illustrates the MOG being ejected rearwards from the combine 10.

The combine 10 also typically includes, amongst other features, an operator cab 26, wheels 28, engine (not shown) and a user interface 32.

As will be discussed in detail herein, the combine 10 additionally includes a pair of sensors, including a three-dimensional LIDAR unit 30a mounted to the rear of the combine 10, and an imaging sensor in the form of a camera 30b mounted on the auger 20 and having a field of view orientated substantially downwards to provide a top down view of a measurement region rear of the combine 10. As will be appreciated, the LIDAR unit 30a is a transceiver type sensing unit, having a transmitter component for transmitting measurement signals, and a receiver component for receiving reflected measurement signals from objects within the environment of the combine 10. The LIDAR unit 30a is used, by a control system 100 of the combine, to determine a position of one or more residue material objects ejected by the spreader tool 22. The camera 30b is used, by control system 100, to determine one or more characteristics of the positioned residue material object(s) in the manner discussed herein.

Figure 2 illustrates an embodiment of a control system 100 of the present invention. As shown, control system 100 comprises a controller 102 having an electronic processor 104, an electronic input 106 and electronic outputs 108, 110. The processor 104 is operable to access a memory 112 of the controller 102 and execute instructions stored therein to perform the steps and functionality of the present invention discussed herein, e.g. by controlling the user interface 32, for example to provide an image to an operator of the combine 10 illustrative of the observed residue material distribution, one or more characteristics of the observed residue material, and/or one or more instructions / suggestions based on observed parameters / characteristics of the observed residue material.

The processor 104 is operable to receive sensor data via input 106 which, in the illustrated embodiment, takes the form of input signals 105a, 105b, received from the LIDAR unit 30a and camera 30b, respectively. As described in detail herein, the LIDAR unit 30a is mounted on the rear of the combine 10, and has a sensing region, here a three-dimensional sensing region, rearward of the combine 10, with the sensor data received from the LIDAR unit 30a being indicative of a position of individual residue material pieces within the sensing region. Using this information, the processor 104 is operable to determine a positon of one or more residue material pieces. In the illustrated embodiment, the camera 30b is mounted on the underside of auger 20, at an end thereof which overhangs the rear of the combine 10, and is positioned such that the camera 30b has an imaging region which at least partly coincides with the sensing region of the LI DAR unit 30a. The sensor data (image data) received from the camera 30b is analysed by the processor 104 to identify residue material pieces within the image data and using the position information obtained through analysis of the sensor data from LI DAR unit 30a, a characteristic of each residue material piece is determined. Here, the characteristic determined by the processor 104 comprises a length of residue material piece(s) identified in the sensor data, determined in the manner described hereinbelow. Based on the determined characteristic, one or more control signals are output from the processor 104 for controlling operation of one or more systems of the agricultural machine in dependence on the determined characteristic.

Output 108 of the controller 102 is operatively coupled to the chopper assembly 29, and is used to output control signals 113 generated by processor 104 for controlling operation of the chopper assembly 29 in dependence on the determined characteristic(s) of the residue material piece(s). As discussed below, this can involve controlling an operating speed and/or frequency of the chopper assembly 29 to control the length(s) to which the residue material is cut when passing through the chopper assembly 29.

In an extension of the control system 100 and combine 10 embodying the control system 100, the processor 104 may be configured to generate and output one or more control signals for controlling one or more further operating parameters of the combine 10 or one or more systems thereof. For example, this may include controlling a forward speed of the combine 10, or controlling an operating speed/parameter of one or more sub-systems of the combine, including the header 12, conveyors 14, crop processing / cleaning apparatus, etc. Each of these controls may affect the speed and or density of flow of residue material supplied to the chopper assembly 29 and hence a cutting length obtained by the chopper assembly 29.

Furthermore, output 110 of the processor 104 is operably coupled to the user interface 32 of the combine 10. Here, the control system 100 is operable to control operation of the user interface 32, e.g. through output of control signals 111 in order to display operational data to an operator of the combine 10 relating to the operation of the control system 100. Specifically, the control system 100 may be operable to control the user interface 32 to display to the operator a graphical representation of the residue material distributed the spreader tool 22, including the one or more characteristics as determined by processor 104. The user interface 32 may be used to provide an operator of the combine 10 with an indication of one or more suggested adjustments to make to one or more operating parameters of the combine 10 (or components thereof) to adjust the cutting length obtained by the chopper assembly 29. As discussed herein, certain observations of the length of residue material pieces observed by the arrangement of the present invention may be indicative of the need to sharpen and/or replace the cutting blade(s) of the chopper assembly 29, and the user interface 32 may be used to provide a notification to an operator of the combine 10 of such a need. The user interface 32 may additionally or alternatively be used to show the image feed obtained from the camera 30b. The user interface 32 may also be operable to receive a user input from the operator, and in such instances the output 110 may act as an input for receiving that user input at the processor 104. The user input may relate to a requested or desired cut length for the residue material, for example, made by the operator of the combine 10.

In a variant, as illustrated by Figures 1 and 2, the processor 104 may also be operable to generate and output control signals 109 via the output 108 for controlling operation of the spreader tool 22, and more specifically first and second steering units of the spreader tool 22, here in the form of a first rotor 23a and a second rotor 23b, for controlling the distribution of residue material ejected from the spreader tool 22 in dependence on the observed residue material.

Figures 3 and 4 illustrate the operational use of aspects of the invention.

Aspects of the invention relate to the use of a LI DAR unit 30a and camera 30b for monitoring the spreading of material from a spreader tool 22 of a combine 10, with the LIDAR unit 30a used to position individual pieces of residue material within a measurement region rear of the combine 10, and the camera 30b used, with knowledge of the position of residue material pieces present within image data obtained by the camera 30b to determine one or more characteristics of the residue material pieces. Specifically, here, the image data from the camera 30b is analysed to determine a length of one or more residue material pieces being spread by the spreader tool 22, and using this information a determination of the operation of a chopping assembly 29 of the combine 10 is made, and appropriate actions taken in dependence thereon.

Figures 3 and 4 illustrate an image 200 obtained by camera 30b of residue material 202 being spread by spreader tool 22. Individual residue material pieces 202 ("lighter" pixels) are visible in the image 200 when compared with background ("darker" pixels). The processor 104 is operable to analyse this image data and identify these individual residue pieces through pixel-wise analysis of the image On a general embodiment based on an RGB / greyscale value for each pixel) and classifying each pixel as "Residue" or "Background". This classification can be performed based on preset criteria, which may be predefined or be generated from a learned model, trained with a training dataset of images with residue material pieces in known locations. From this, residue material pieces are determined to be present where one or more pixels classified as "Residue" are present in the image data.

An observed length of individual pieces can be extracted from the image data, here by counting a number of adjacent pixels classified as "Residue". This is shown illustratively in Figure 4, which is a section 'A' of Figure 3, where an individual residue material piece 202' is identified (highlighted by 204) spanning a number of pixels. This observed length, in number of pixels, can be converted to an actual length using the positional data from LIDAR unit 30a. Specifically, the data obtained by LIDAR unit 30a is analysed to determine a distance between the residue material pieces identified in the image data 200 and the camera 30b. With knowledge of this distance, and the pixel span of any given piece of residue material, e.g. piece 202', an actual length of that piece of residue material can be calculated using a predetermined relationship dependent on the field of view of the camera 30b, no. of pixels, etc. each of which may be controllable / changed as required to obtain a useful representation of the spreading process.

The relationship between the field of view of the LIDAR unit 30a and the camera 30b can be determined through a pre-calibration process. For example, prior to using the system, a reference image/location with reference objects etc. may be provided for the LIDAR unit 30a and camera 30b, with known positional relationships. Data from the sensors may be processed to identify the reference objects within their respective fields of view, and subsequently align the fields of view / determine the relationship between the sensors.

The processor 104 is configured to determine an actual size of multiple residue material pieces, and use this information to control one or more systems of the combine 10, e.g. of the chopping assembly 29 in the manner described herein based on this information. The processor 104 may determine from the multiple residue material pieces, a maximum observed length of residue material pieces. If this length is greater than expected or desired, one or more control measures may be taken, e.g. by controlling a feed rate of material into the chopper assembly 29 (here slowing / reducing the feed rate) to ensure the material is engaged by the chopper assembly 29 for longer to provide greater cutting. The processor 104 may be used to determine an average cutting length for residue material pieces, including optionally a variation of lengths from said average. Large variations in the cutting length may be indicative of a fluctuating feed rate to the chopper assembly 29, or in some instances to the operation of the chopper assembly 29 itself, e.g. the need to sharpen or replace one or more chopping blades of the chopper assembly 29.

Any process descriptions or blocks in flow diagrams should be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the embodiments in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present disclosure.

It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as set out herein and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

It will be appreciated that the above embodiments are discussed by way of example only. Various changes and modifications can be made without departing from the scope of the present application.

Claims

CLAIMS1. A system for monitoring residue material spread from a spreader tool of an agricultural machine, the system comprising: a transceiver sensor having a sensing region rearwards of the agricultural machine; an imaging sensor having a imaging region rearwards of the agricultural machine which at least partly coincides with the sensing region of the transceiver sensor; and one or more controllers, configured to: receive sensor data from the transceiver sensor and the imaging sensor; determine, from the sensor data received from the transceiver sensor, a position of one or more residue material objects within the sensing region; determine, from the sensor data received from the imaging sensor and in dependence on the respective position of the one or more residue material objects, a characteristic of each of the one or more residue material objects; and output one or more control signals for controlling operation of one or more systems of the agricultural machine in dependence on the determined characteristic.
2. A system as claimed in claim 1, wherein the transceiver sensor comprises a three-dimensional LI DAR sensor, having a three-dimensional sensing region.
3. A system as claimed in claim 1 or claim 2, wherein the imaging sensor comprises a camera.
4. A system as claimed in any preceding claim, wherein the characteristic of the residue material object(s) comprises a length of the objects(s).
5. A system as claimed in claim 4, wherein the one or more controllers are configured to determine an operational parameter of a chopper assembly of the agricultural machine in dependence on the determined characteristic.
6. A system as claimed in any preceding claim, wherein the one or more controllers are configured to determine, from the sensor data received from the transceiver sensor, a position of one or more residue material objects within a measurement region rear of the agricultural machine.
A system as claimed in claim 6, wherein the one or more controllers are configured to determine, from the sensor data received from the transceiver sensor, a positional relationship between the one or more residue material objects and the imaging sensor, wherein the positional relationship comprises a distance between the one or more residue material objects and the imaging sensor.
8. A system as claimed in any preceding claim, wherein the one or more controllers are configured to determine, from the sensor data received from the imaging sensor, a relative size of the one or more residue material objects within image(s) obtained by the sensor data.
A system as claimed in claim 8, when dependent on claim 7, wherein the one or more controllers are operable to determine a length of one or more residue material objects in dependence on the position of the one or more objects within the measurement region and the relative size of the one or more objects within the image(s).
10. A system as claimed in claim 9, wherein the one or more controllers are configured to determine, from the determination of the length of one or more residue material objects: a maximum identified length of residue material objects being spread by the spreader tool; an average identified length of residue material objects being spread by the spreader tool; and/or a distribution of lengths of residue material objects being spread by the spreader tool.
11. A system as claimed in any preceding claim, wherein the one or more systems of the agricultural machine controllable by the system include a user interface which provides information of the determined characteristic.
12. A system of any preceding claim, operable to control one or more operating parameters of the agricultural machine in dependence on the determined characteristic.
13. A system as claimed in claim 12, wherein the one or more operating parameters comprise: a forward speed of the agricultural machine; an operating setting of one or more sub-assemblies of the agricultural machine; and/or an operating parameter of a chopping assembly of the machine.
14. An agricultural machine comprising the system of any preceding claim.
15. A method of monitoring residue material spread from a spreader tool of an agricultural machine, comprising: receiving sensor data from a transceiver sensor having a sensing region rear of the agricultural machine; receiving sensor data from an imaging sensor having an imaging region rear of the machine and at least partly coinciding with the sensing region of the transceiver sensor; determining, from the sensor data received from the transceiver sensor, a position of one or more residue material objects within the sensing region; determining, from the sensor data received from the imaging sensor and in dependence on the respective position of the one or more residue material objects, a characteristic of each of the one or more residue material objects; and outputting one or more control signals for controlling operation of one or more systems of the agricultural machine in dependence on the determined characteristic.