biomass sensing apparatus

专利摘要:
BIOMASS SENSORING APPARATUS AND METHOD A harvester interacts with plants in order to separate a harvested portion from a biomass portion of each plant. At least one sensor carried by the combine emits a signal based on an attribute of the biomass portion.
公开号:BR102015017990B1
申请号:R102015017990-1
申请日:2015-07-28
公开日:2021-03-16
发明作者:Aaron J. Bruns；Niels Dybro
申请人:Deere & Company；
IPC主号:

专利说明:

FUNDAMENTALS
[001] During harvesting, the harvested portion is separated from the associated biomass portion. Attributes of the harvested portion are sometimes sensed and recorded. BRIEF DESCRIPTION OF THE DRAWINGS
[002] Figure 1 is a schematic diagram of an example biomass sensing system.
[003] Figure 2 is a flow chart of an example method for determining biomass attributes.
[004] Figure 3 is a schematic diagram of another example biomass sensing system.
[005] Figure 4 is a flow chart of an example method for determining and using biomass attributes.
[006] Figure 5 is a diagram of an example display of a map for biomass moisture content.
[007] Figure 6 is a diagram of an example display of a map for biomass quantity.
[008] Figure 7 is a schematic diagram of another example biomass sensing system.
[009] Figure 8 is a schematic diagram of another example biomass sensing system.
[0010] Figure 9 is a schematic diagram of another example biomass sensing system.
[0011] Figure 10 is a side view of an example harvester, provided as part of another example biomass sensing system. DETAILED DESCRIPTION OF EXAMPLES
[0012] Figure 1 schematically illustrates a biomass sensing system of example 20. As will be described hereinafter, the biomass sensing system 20 obtains information related to attributes of plant biomass during the harvesting of the harvested portion of the plants. Such information assists in field and harvest management.
[0013] The biomass sensing system 20 comprises the harvester 22 and the biomass portion sensor 26. The harvester 22 comprises a device configured to gather plants 30 and separate the harvested portion 32 from the remaining biomass portion 34 of each of the plants 30.
[0014] According to an example, the phrase "configured for" denotes a current state of configuration that fundamentally associates the mentioned function / use with the physical characteristics of the characteristic that proceeds with the phrase "configured for". In one implementation, the harvested portion 32 comprises a grain, while the biomass portion 34 comprises the rest of the plant, such as a stalk, foliage and the like. Examples of such plants include, but are not limited to, corn, soybeans and the like. In another implementation, the harvested portion comprises a selected portion of the plant, such as a stem of the plant, while the biomass portion comprises the remainder of the plant.
[0015] Examples of such plants include, but are not limited to, sugar cane. In another implementation, the harvested portion comprises a fruit or vegetable above the plant's soil, while the biomass portion comprises the rest of the plant. Examples of such plants include, but are not limited to, tomatoes. In yet another implementation, the harvested portion comprises an underground portion of the plant, such as a root or tuber, while the biomass portion comprises the remainder of the plant. Examples of such plants include, but are not limited to, carrots, turnips and potatoes.
[0016] In the illustrated example, harvester 22 comprises plant collection components 40, separation components 42 and discharge / treatment components 44. Plant collection components 40 comprise components configured to gather, direct, guide or channel plants to separation components 40. In one implementation, plant collection components 40 separate a portion of the plant, including both the harvested portion 32 and the biomass portion 34, from the soil. In another implementation, the collection components 40 uproot the plant from the ground. Examples of various plant collection components of the harvester 22 include, but are not limited to, cutting bars, stem rollers, rotating teeth, augers, collection chains and the like.
[0017] The separation components 40 comprise components configured to separate the harvested portion 32 from the remaining biomass portion 34. Examples of the separation components 40 include, but are not limited to, separator plates, drums and threshing counter beaters combine harvester, straw picker, sieves, grain return or waste systems, beaters and other threshing mechanisms. In an implementation, the harvested portion can be the grain itself. In another implementation, the harvested portion may be the grain and associated bark or ear, which has been separated from the remaining biomass portion 34 of the plant 30.
[0018] In one implementation, harvester 22 collects and stores the separate and harvested portion 32, while unloading the remaining biomass portion 34. In one implementation, harvester 22 comprises a vehicle that crosses a field, in which the vehicle includes a storage tank or silo, in which the harvested portion is temporarily stored. In still other implementations, the harvested portion 32, after being separated from the biomass portion 34, is unloaded into an independent or separate storage vehicle, such as a wagon or tank of another vehicle that moves along the harvester 22 In other implementations, the harvested portion 32, after being separated from the biomass portion 34, is discharged or released into the field for subsequent collection and storage.
[0019] The discharge components 44 comprise components of the harvester 22, which are configured to expel the separate biomass portions 34 from the harvester 22. For example, in an implementation, the harvester 22 comprises a vehicle for traversing a field, in that the unloaded components 44 discharge the remaining biomass portion out a rear of the vehicle as it crosses the field. In one implementation, the discharge components 44 additionally treat the remaining biomass portion either before or immediately after the discharge of the remaining biomass portion. For example, in one implementation, the discharge components 44 perform additional cutting, crushing or separating operations on the remaining biomass portion after the biomass portion has been separated from the harvested portion. In one implementation, harvester 22 applies one or more chemicals to the remaining biomass portion either before or immediately after the biomass portion has been discharged. For example, in an implementation, harvester 22 applies chemicals to assist in the biodegradation of the remaining biomass portion either before or after discharge back into the field.
[0020] The biomass portion sensor 26 comprises one or more sensors configured to emit signals that indicate one or more attributes of the biomass portion 34. In an implementation, such signals directly indicate the one or more attributes of the biomass portion 34. In another implementation, such signals indirectly indicate the one among more attributes of the biomass portion 34, such as when combined with other data or other signals. In an implementation, system 20 queries a historical verification table or one or more formulas or mathematical algorithms to determine the one or more attributes of the biomass portion 34 using the signals from the sensor 26 as an input.
[0021] In one implementation, one or more biomass portion sensors 26 emit signals that indicate a moisture content of the biomass portion 34. In an implementation, one or more biomass portion sensors 26 emit signals that indicate an amount or mass of the biomass portion 34 on which the harvester 22 interacts. In one implementation, the one or more biomass portion sensors 26 emit signals that indicate a purity or content of the biomass portion 34. For example, in some circumstances, the biomass portion 34 associated with plants 32 may be co-piled or mixed with other biomass materials, such as weeds and the like. In such an implementation, the biomass portion sensor 26 is configured to indicate which percentage or mass is associated with biomass portion 34 from plants 32 and which percentage or mass associated with different or foreign biomass materials. In still other implementations, other attributes are determined from the signals emitted by the biomass portion sensor 26.
[0022] In one implementation, the biomass portion sensor 26 detects one of the more attributes of the biomass portion 34, which is separated, collected and otherwise passes through the combine 22. In another implementation, the biomass portion sensor 26 detects one or more attributes of the biomass portion 34, associated with the plants 32, regardless of whether the biomass portion 34 passes through the harvester 22 or remains rooted in the soil after the harvested portion 32 has been collected by the harvester 22. For example , in one implementation, the biomass portion sensors 26 emit signals that indicate one or more attributes of a portion of the stalk and foliage of the plant 30, which has been separated and which is passing through the harvester 22 and / or one or more attributes of a rest of the stem, which remains rooted in the soil after such separation. In one implementation, the attributes of the remainder of plant 30, which remains rooted in the soil after such separation, are determined based on signals that result from the biomass portion sensor 26 interacting with the portion of plant 30 that has been separated and , which is passing through the combine 22.
[0023] In one implementation, the biomass portion sensor 26 comprises one or more acoustic sensors, in which sensor 26 emits signals based on the sound or acoustic pressure that results from the interaction of plant 30 with harvester 22. For example, in a implementation, sensor 26 emits signals based on the sound that results from the plant 30 being impacted or impacting a surface of the harvester 22. For example, in an implementation, sensor 26 detects the sound of the harvested portion 32 impacting on a surface of the combine 22.
[0024] In an implementation, in which the harvester 22 comprises a combination for harvesting corn, the sensor 26 detects the impact of a corn ear impacting on the ear separator plates or other portions of the harvest head of the harvester 22. In another implementation, sensor 26 detects the sound of the biomass portion 34 impacting on a surface of the harvester 22. In an implementation, in which the harvester 22 comprises a combined harvesting corn, sensor 26 detects the sound produced by the corn plant being separate or the sound produced by the deflection of the corn stalk. Such sounds or crackles correspond to one or more attributes of the biomass portion 34, such as the moisture content, quantity and / or purity of the biomass portion 34.
[0025] In an example implementation of a corn head to harvest maize, the biomass portion sensor 26 comprises one or more acoustic sensors, mounted or supported overhead on a "protective ear" facing backwards on each of the nozzles of the corn harvester head, with each sensor oriented such that it is focused in the direction of an impact zone on the ear separator plates. In another example implementation of a combined head for harvesting corn, the biomass portion 26 comprises one or more acoustic sensors, mounted below a lower half of the nozzles, in order to sense or capture the sound of the shock of a corn cob crashing into the mouth. In yet another implementation of a corn head to harvest corn, the biomass portion sensor 26 comprises one or more acoustic sensors, mounted along the stem rollers or rollers in order to sense the sound produced by the interaction of the stem rollers with the stalk, in which noise or acoustic pressure from crackling is attributed to the relative humidity content or other attributes of the biomass portion 34.
[0026] In another implementation, the biomass portion sensor 26 comprises one or more capacitive sensors. When portions of plant 30, such as harvested portion 32 or biomass portion 34, interact with, or pass through, the surface, the capacitive sensor that serves as the biomass portion sensor 26 undergoes or undergoes a change in capacitance . Signs that indicate the change in capacitance also indicate one or more attributes of the harvested portion 32 and / or the biomass portion 34. In one implementation, such capacitive sensors detect the passage of dielectric material, in which the more moisture containing ions in the material passing in the capacitive sensor, the greater the signal emission by the sensor. In an implementation, the capacitive sensor can comprise a grid to facilitate the detection of the quantity or other attributes of the biomass portion 34.
[0027] In one implementation, the biomass portion sensor 26 comprises a capacitive sensor positioned below a surface of the harvester 22, which interacts with the plant 30. In an implementation, where the harvester 22 comprises a corn harvester head, the biomass portion sensor 26 comprises one or more capacitive sensors, which are coated or painted on a lower side or inside the mouth, protecting the one or more biomass portion sensors 26 against direct exposure from where the crop or plant 30 is being processed or harvested. In still other implementations, the biomass portion sensor 26 comprises one or more capacitive sensors, which are laminated, bonded, adhered to or otherwise attached to a lower side within the nozzle or are mounted elsewhere on the harvester head or on other locations downstream of the combine head.
[0028] In yet another implementation, the biomass portion sensor 26 comprises a deflection sensor or force sensor, which detects the deflection of one or more surfaces of the combine 22 as a result of interaction with the plant 30 or portion of biomass 34. For example, in an implementation, where the harvester 22 comprises a corn harvester head for harvesting maize, the biomass portion sensor 26 comprises a deflection sensor for sensing the deflection or movement of spike separator plates and / or stalk head rolls. Signals from the one or more deflection sensors indicate stalk thickness, which indicates an amount or mass of the biomass portion 34, and / or indicates a moisture content or a purity content.
[0029] Figure 2 is a flow chart of an example method 100, which can be performed or implemented to detect one or more attributes of the biomass portion 34. As indicated by block 110, harvester 22 interacts with plants 32 to separate the harvested portion 32 from the biomass portion 34. In one implementation, the separate harvested portion 32 is assembled or collected in a combine 22 tank. In another implementation, the separate harvested portion 32 is discharged from the combine 22 into from a tank of another vehicle that moves with a harvester 22 through a field or is discharged on the ground for subsequent collection.
[0030] As indicated by block 112, the biomass portion sensor 26 detects one or more attributes of the biomass portion 34. In an implementation, such sensing is performed using one or more acoustic sensors that detect the interaction of the plant 30 with the harvester 22. In another implementation, such sensing is performed using one or more capacitive sensors supported by the harvester 22. In yet another implementation, such sensing is performed using one or more force or deflection sensors. In still other implementations, such sensing is performed using multiple sensors of different types, such as combinations of acoustic, capacitive and / or force-deflection sensors.
[0031] As indicated by blocks 114, 116 and 118, the signals provided by the biomass portion sensors 26 are analyzed to determine one or more attributes of the biomass portion 34, such as humidity, quantity, and purity, respectively. In one implementation, one or more processing units perform such an analysis on board the combine 22. In another implementation, one or more processing units, remote from the combine 22, receive the signals and perform the analysis to determine the one among more attributes of the combine. biomass portion 34. The attributes of the biomass portion 34, once determined, can be provided for storage, visualization and / or adjustment for the operation of the combine 22 or other subsequent field management operations.
[0032] Figure 3 schematically illustrates the biomass sensing system 220, an example implementation of the biomass sensing system 20. The biomass sensing system 220 is similar to the biomass sensing system 20, except that the biomass sensing system biomass sensing 220 is specifically illustrated as further comprising the harvested portion sensor 248, location or location indicator 250, controller 252 and output 254. Those remaining components of the biomass sensing system 220, which correspond to the components of the sensing system of biomass 20 are listed similarly in figure 3 or are shown in figure 1.
[0033] The harvested portion sensor 248 comprises one or more sensors configured to emit signals that indicate, directly or indirectly, one or more attributes of the harvested portion 32 of plant 30. In one implementation, the harvested portion sensor 248 emits signals that indicate an amount, such as mass or volume, of the harvested portion 32, collected or separated by the combine 22. In one implementation, the harvested portion sensor 248 comprises one or more of the same sensors that serve as the biomass portion sensor 26. In another implementation, the harvested portion sensor 248 comprises sensors in addition to those sensors that serve as the biomass portion sensor 26.
[0034] In one implementation, the harvested portion sensor 248 comprises an acoustic sensor supported by the harvester 22, in order to emit signals based on the impact of the harvested portion against the surfaces of the harvester 22. For example, in an implementation, the sensor harvested portion 248 comprises an acoustic sensor, in order to emit signals based on the impact of corn cobs with a cob harvester plate or with the mouth of a corn harvester head.
[0035] In another implementation, the harvested portion sensor 248 comprises one or more accelerometers coupled to the surfaces of the harvester 22, which emit signals based on the impact of the harvested portion against the surfaces of the harvester 22. For example, in a limitation , the harvested portion sensor 248 comprises one or more accelerometers mounted on, or otherwise supported by, the ear separator plates of a corn harvester head, in which the impact forces of corn ears against the ear separator plates, in combination with other factors, such as the speed of the combine, are used to determine the amount of the harvested portion 32, such as grain mass. In still other implementations, the harvested portion sensor 248 comprises other types of sensors, such as deflection sensors and the like. In still other implementations, the harvested portion sensor 248 comprises combinations of different types of sensors to facilitate improved sensing, accuracy, and reliability.
[0036] Location indicator 250 comprises one or more electronic components or devices, configured to determine and / or track a geographic location of the combine 22. In one implementation, location indicator 250 comprises a georeferencing system comprising a receiver as part of of a global satellite positioning system or global satellite navigation system. In still other implementations, the location indicator 250 may comprise other mechanisms or devices of georeferencing, which facilitate the georeferencing of the harvester housing 22 with respect to the field being traversed.
[0037] Controller 252 comprises one or more electronic components, configured to receive and use signals from the biomass portion sensor 26 as well as from other sensors from system 220 to determine attributes of the biomass portion 34 and to use such attributes determined to produce output 254. In one implementation, controller 252 is supported by harvester 22. In another implementation, controller 252 is remotely positioned relative to harvester 22, as in a remote office location, in another vehicle, or a central server installation, in which the remotely positioned controller receives signals from the combine 22 via a local area network or a wide area network, such as the Internet. As schematically shown in Figure 3, controller 252 comprises processor 256 and memory 258 comprising attribute determination module 260 and output module 262.
[0038] Processor 256 comprises one or more processing units, configured to execute instructions contained in memory 258. According to an example, the term "processing unit" must mean a processing unit, currently developed or to be developed in the future, which executes sequences of instructions contained in a memory. The execution of the instruction sequences causes the processing unit to perform steps, such as generating control signals. The instructions can be loaded into a random access memory (RAM) for execution by the processing unit, a read-only memory (ROM), a large capacity storage device, or add other persistent storage. In other embodiments, a circuit formed by wires can be used in place of, or in combination with, software instructions, to implement the functions described. For example, controller 252 can be incorporated as part of one or more application specific integrated circuits (ASICs). Unless specifically noted to the contrary, the controller is not limited to any specific combination of hardware and software circuitry, nor to any particular source for instructions executed by the processing unit.
[0039] Memory 258 comprises a computer-readable, non-transitory medium or persistent storage device. The attribute determination module 260 comprises code, programmed logic or programming to direct processor 256 in determining one or more attributes of the biomass portion 34 based on signals received from the biomass portion sensor 26. In the illustrated example, the attribute determination module 260 additionally directs processor 256 in determining one or more attributes of the harvested portion 32 based on signals received from the harvested portion sensor 248. In one implementation, the attribute determination module 260 directs the processor 256 to consult a history check table, previously composed, stored in memory 258 or stored somewhere else, associating different signals from sensor 26 and sensor 248 to different attribute values for biomass portion 34 and harvested portion 32, respectively. In yet another implementation, the attribute determination module 260 directs processor 256 to determine the one among more attributes of the biomass portion 34 and harvested portion 32 through the use of signals from sensors 26 and 248 as input to a or more formulas or mathematical algorithms.
[0040] The output module 262 comprises code, programmed logic or programming to direct the processor 256 to use the determined attributes of the biomass portion 34 to produce the output 254. In the illustrated example, the output module 262 causes the processor 256 to instruct a person to select one or more of the various output options for output 254 using a touchscreen or other input device.
[0041] Output 254 comprises several means of output, for which one of the most determined attributes of the biomass portion 34 is used to improve crop management. As shown in figure 3, output 254 comprises display 270, storage of biomass portion data 272, storage / mapping of biomass portion location data 274, storage of harvested portion data from biomass portion 276, the storage / mapping of location data of the harvested portion of the 278 portion and adjustment module 280. The display 270 comprises a display, monitor or screen, in which the attributes determined for the biomass portion 34 are displayed. In one implementation, display 270 presents the attributes determined on a monitor, supported by the combine 22 or positioned in a remote installation to the combine 22, when the combine 22 is separating from the harvested portion 32 from the biomass portion 34. Such information shown in view 270 allows a manager, operator or other person to view the current attributes of the biomass portion 34 and make manual adjustments to the harvester control 22 during harvest.
[0042] The storage of biomass portion data 272 comprises a database or other memory, in which certain attributes of the biomass portion 34 are stored. In one implementation, data storage 272 is positioned on the harvester 22. In In another implementation, data entry 272 is positioned at a remote location, such as part of a remote server. The biomass attributes stored in the data storage 272 facilitate the subsequent visualization and the subsequent use in the management of the field, from which the biomass attributes were taken or the management of the harvest in other fields for similar plants 30.
[0043] The storage / mapping of biomass portion location data 274 comprises values electronically stored in the form of a table, map or other architecture, linking certain biomass portion attributes to different georeferenced locations, when determined based on signals from location indicator 250. Data storage / mapping 274 identifies changes in the attributes of the biomass portion 34 across a field. In an implementation, data entry / map 274 facilitates the determination by an operator or manager of which portions of the field produce the greatest amount of biomass, which portions of the field were harvested with the portion of biomass 34 having the highest moisture content at the time harvest and / or which portions of the field produced a higher level of purity of the biomass portion 34 from the plant 30, compared to a foreign biomass level. In other implementations, data storage / mapping links or associates different attributes or changes in different attributes of the biomass portion to the different regions or locations of a field that produces the biomass.
[0044] The data storage of the harvested portion of the biomass portion 276 comprises a data storage, in the form of a table, graph, or other data architecture, associating the determined attributes of the biomass portion 34 with the corresponding attributes of the portion harvested 32. In one implementation, data storage 276 stores for each plant or group of plants, one or more attributes for the harvested portion 32 of the individual plant, or group of plants, and one among more attributes for the biomass portion 34 from the same corresponding plant, or from the same group of plants. For example, plant group A may have the first production or quantity for the harvested portion 32 and a first production or quantity for the biomass portion 34, while plant cluster B has a different second production or quantity for the harvested portion 32 and a different second production or quantity for the biomass portion 34. Data storage 276 facilitates the determination of a relationship between one or more attributes of the harvested portion 32 compared to one or more attributes of the biomass portion 34 In an implementation, this relationship is stored in the individual plant based on the plant. In another implementation, this relationship is stored for a group of plants.
[0045] The storage / mapping of location data of the harvested portion of the biomass portion 278 comprises electronically stored values in the form of a table, map, or other architecture, linking the certain attributes of the biomass portion to the plant groupings for certain attributes of harvested portion for the same group of plants to different georeferenced locations, when determined based on signals from the 250 location indicator. Data storage / mapping 278 identifies changes in both the attributes of the biomass portion 34 and the harvested portion 32 across of a field. In one implementation, data storage / mapping 278 facilitates the determination by an operator or manager, which portions of the field produce a greater amount of biomass 34 with a corresponding greater amount of the harvested portion 32, which portions of the field were harvested with a greater production of the harvested portion 32, but with the biomass portion 34 having a higher moisture content at harvest time and / or which portions of the field had a greater production of the harvested portion 32 and a higher level of purity of the biomass portion 34 from plant 30 compared to a foreign biomass level. In other implementations, data storage / mapping links, or associates different attributes, or changes in different attributes of the biomass portion 34 and the harvested portion 32 to the different regions or locations of a field that produces the biomass.
[0046] The adjustment module 280 comprises code or program logic contained in memory 258 or in another memory, which causes processor 256 or another processor to generate control signals by making adjustments based on certain biomass attributes. In one implementation, adjustment module 280 adjusts the operation of the combine 22 based on at least one or more attributes of the biomass portion 34. In one implementation, the adjustment module 280 adjusts the operation of the combine 22 in real time, when harvester 22 is crossing a field during harvest. Examples of adjustments to the combine 22 include, but are not limited to, adjusting a speed at which the combine 22 is traveling across the field, a height of a combine head, which interacts with the plants 30, and one or more parameters or adjustments of harvested portion separation - biomass portion, as adjustments for separation opponents 42 are discharged / treatment components 44. For example, based on signals that indicate changes in one or more attributes determined for biomass portion 34, the combine harvester 280 can direct processor 256 to output control signals that adjust the speed, torque and / or positioning of components, such as spike separator plates, threshing drums and counter beaters, straw pickers, sieves, return systems grain, beaters, and other threshing mechanisms.
[0047] In another implementation, adjustment module 280 makes one or more future adjustments to a field or crop management or mission plan, which is electronically generated and presented, or read, to facilitate crop and field management. For example, in an implementation, a mission plan is a detailed plan, stored on the computer, related to various management decisions or parameters for the various operations in the field. Such a plan is generated using inputs from an operator and before historical data retrieved from various electronic databases, related to historical parameters or data, such as growth cycles, soil characteristics, meteorological characteristics, fertilizer characteristics, herbicidal insecticide, historical fertilizer, insecticide and herbicide applications for a field and the like. Such a plan can assist in determining not only which particular operations are to be performed, but when that particular operation is to be performed. In some implementations, the mission plan comprises programmed equipment controls or a control script, which, when read from the mission plan and processed, causes the generation and emission of control signals, which automatically adjust one or more parameters equipment when operating across a field.
[0048] Figure 4 is a flow chart of an example method 300, which can be performed or implemented to detect one or more attributes of the biomass portion 34 and to produce the output based on one or more attributes of the biomass portion 34 As indicated by block 310, harvester 22 interacts with plants 30 to separate harvested portion 32 from biomass portion 34. In one implementation, separate harvested portion 32 is assembled or collected in a tank on harvester 22. In In another implementation, the separate harvested portion 32 is discharged from the harvester 22 into a tank in another vehicle traveling with the harvester 22 through a field or is discharged onto the ground for subsequent collection.
[0049] As indicated by block 312, the biomass portion sensor 26 detects one or more attributes of the biomass portion 34. In an implementation, such sensing is performed using one or more acoustic sensors that detect the interaction of the plant 30 with the harvester 22. In another implementation, such sensing is performed using one or more capacitive sensors, supported by the harvester 22. In yet another implementation, such sensing is performed using one or more force or deflection sensors. In still other implementations, such sensing is performed using multiple sensors of different types, such as combinations of acoustic, capacitive and / or force-deflection sensors.
[0050] As indicated by blocks 314, 316 and 318, the attribute determination module 258, performed by processor 256, analyzes the signals emitted by the biomass portion sensor 26 to determine one or more attributes of the biomass portion 34 as moisture , quantity, and purity, respectively. In an implementation, the operator-manager is allowed to select which attributes are identified. In other implementations, additional or alternative attributes for the biomass portion 34 are determined by the attribute determination module 260.
[0051] As indicated by block 320, output module 262 directs processor 256 to use such attributes determined for biomass portion 34 to produce one or more forms of output. As indicated by block 322, output module 262 directs processor 256 to store and / or display the determined attribute data for the biomass portion 34. In one implementation, display 270 presents the certain attributes on a monitor, supported by harvester 22 or positioned in a remote installation to harvester 22, when harvester 22 is separating the harvested portion 32 from the biomass portion 34. Such displayed information allows a manager, operator or other person to view the current attributes of the biomass portion 34 and make manual adjustments to combine control 22 during harvest.
[0052] As indicated by block 324, in yet another implementation or when operating under another selected operating mode, the attribute determination module 260 receives signals that indicate one or more attributes of the harvested portion 32 and determines one or more attributes of the portion harvested 32 from such signals. As indicated by block 326, output module 262 directs processor 256 to store and / or display a presentation that associates certain attributes of the biomass portion 34 with the corresponding attributes of the harvested portion 32. In one implementation, for each plant or group of plants, one or more attributes for the harvested portion 32 of the individual plant or group of plants and one among more attributes for the biomass portion 34 of the same corresponding plant or group of plants are stored or displayed. As an example, plant group A may have a first production or quantity for the harvested portion 32 and a first production or quantity for the biomass portion 34, while plant cluster B has a different second production or quantity for the harvested portion 32 and a different second production or quantity for the biomass portion 34. In one implementation, this relationship is stored in the individual plant based on the plant. In another implementation, this relationship is stored for a group of plants.
[0053] As indicated by block 330, 332 and 334, in yet another implementation or another selectable mode of operation, output module 262 maps the given one or more attributes of the biomass portions 34 to particular georeferenced locations in a field, examples of which are shown in figures 5 and 6 described hereinafter. As indicated by block 330, controller 252 receives location data or geo-referenced information from location indicator 250 (shown in figure 3) that indicates the location of harvester 22 when harvester 22 is traversing a field during harvest. As indicated by block 332, output module 262 links, maps or associates one or more certain biomass attributes 34 to the georeferenced locations, from which the biomass portions 34 of plants 30 originated. As indicated by block 334, output module 262 stores and / or displays the biomass attributes mapped to the georeferenced locations.
[0054] As indicated by blocks 338, 340, 342 and 344 of figure 4, in yet another implementation or another selectable mode of operation, output module 262 maps the determined one or more attributes of the biomass portions 34 and their associated attributes harvested portion for particular georeferenced local sites in a field. As indicated by block 338, processor 256 from controller 252 receives location data or georeferenced information from location indicator 250 (shown in figure 3) that indicates the location of the harvester 22 when the harvester 22 is traversing a field during the harvest. As indicated by block 340, attributes for the harvested portion are sensed. In particular, controller 252 receives signals from the harvested portion sensor 248, where the attribute determination module 260 determines attributes for harvested portion 32. As indicated by block 342, output module 262 links, maps or associates one or more certain attributes of biomass 34 and their associated attributes of harvested portion to the georeferenced sites from which the biomass 34 portions of plants 30 originated. As indicated by block 344, output module 262 stores and / or displays the mapped biomass attributes and attributes of the harvested portion in georeferenced locations.
[0055] As indicated by block 350, in yet another implementation or a particular selected mode of operation, output module 262 transmits one or more determined attributes of the biomass portion 34 to an adjustment module 280, which causes the 256 processor facilitates one or more current or future adjustments. As indicated by block 352, in an implementation, such adjustments are made to the combine 22 in real time. In other words, when harvester 22 is crossing a field while separating harvested portion 32 and biomass portion 34 from plants 30, adjustment module 280 (shown in figure 3) is continuously or periodically causing processor 256 to emit control signals to adjust one or more operational parameters of the combine 22 “in flight”. As indicated by block 356, in one implementation, the harvester tuning module 280 causes processor 256 to emit control signals causing the speed of the harvester 22, the speed at which the harvester 22 is traveling through a field, to be adjusted. As indicated by block 358, in one implementation, the harvester adjustment module 280 causes processor 256 to emit control signals causing the height of the harvester 22 or the height of the harvester harvest head 22 to be adjusted. As indicated by block 360, in one implementation, the harvester adjustment module 280 causes processor 256 to output control signals that adjust one or more harvester separation and / or discharge parameters 22. For example, based on signals that indicate changes in one or more attributes determined for the biomass portion 34, the adjustment module 280 can direct the processor 256 to emit control signals that adjust the speed, torque and / or the positioning of components, such as spike separator plates, threshing drums and counter-beaters, straw pickers, sieves, grain return systems, beaters and other threshing mechanisms.
[0056] As indicated by block 362, in an implementation, output module 262 directs processor 256 to make one or more future adjustments in a field or crop management or mission plan, which is electronically generated and presented to facilitate crop and field management. For example, in an implementation, a mission plan is a detailed plan, stored on the computer, related to various management decisions or parameters for the various operations in the field. Such a plan is generated using inputs from an operator and before historical data retrieved from various electronic databases, related to historical parameters or data such as growth cycles, soil characteristics, weather characteristics, fertilizer characteristics, insecticide , herbicide, historic fertilizer, insecticide and herbicide applications for a field and the like. Such a plan can assist in determining not only which particular operations are to be performed, but when that particular operation is to be performed. In some implementations, the mission plan comprises programmed equipment controls or control inputs that, when read from the mission plan and processed, cause the generation and emission of control signals, which automatically adjust one or more operational parameters of the equipment. when he is crossing a field.
[0057] As indicated by block 364, in an implementation, output module 262 directs processor 256 to adjust biomass harvest operations for a mission plan. For example, in response to a determination that the biomass portion 34 has a high moisture content or that particular regions of the field produce portions of biomass having a higher moisture content, output module 262 sets a recommended timing of the mission to harvest biomass from the field or the recommended timing for harvesting biomass from particular regions of the field.
[0058] In an implementation, such a mission plan comprises an operational control script to control the operational settings for the equipment during operations performed in a field. Such a control script comprises an electronic or digital script contained in a computer-readable medium and including various operational settings for a piece of equipment, which are assigned to different georeferenced locations in a field, where such operational settings for the equipment are automatically triggered based on the current location of the equipment, as indicated by signals from a global satellite navigation system or another source of georeferencing. Such a control script works similarly to cruise control for a vehicle, automatically adjusting the equipment's operational parameters based on its location in a field, while allowing such operational parameters to be overridden by the operator. During field operations and when the equipment crosses the field, one or more of the equipment's processors or a remote controller of the equipment reads the control script and automatically adjusts the operating parameters based on settings or control warning signals in the script and based on location data, georeferenced, when the equipment crosses a field.
[0059] In an implementation, based on the determined quantity of the biomass portion 34 in different regions of a field, as the use of map 454 in figure 6, the output module 262 adjusts or creates operational control warning signs in writing control, so that when the control warning signs in the control write are read by a controller of a biomass harvesting equipment, the controller emits control signals that automatically adjust the operational parameters of a biomass harvesting equipment , depending on which region of the biomass field is about to be harvested. For example, in response to georeferenced signals, which indicate that the piece of biomass harvesting equipment is about to harvest a particular region of the field having a higher amount of biomass, the equipment controller, following the control script, makes the processor to emit control signals that adjust the operational settings of the harvesting biomass to accommodate the additional amount of biomass in the particular region of the field.
[0060] As indicated by block 366, in an implementation, output module 262 directs processor 256 to adjust the tillage / non-tillage operations of a mission plan for the field. For example, based on one or more determined biomass attributes, such as moisture content or quantity, output module 262 directs processor 256 to adjust which tillage operations are performed, when such tillage operations are performed and / or the operational adjustments for the equipment that performs such tillage operations. In an implementation, output module 262 sets a control script for the equipment, which is recommended to perform the recommended tillage operation, following the subsequent harvest or spring. For example, in an implementation, output module 262 adjusts the height or depth, at which the tillage equipment interacts with the soil depending on the amount or density of biomass in a particular region of the field.
[0061] As indicated by blocks 368, 370, 372, 374 and 376, in other implementations or indifferent selectable modes, output module 262 also directs processor 256 to implement other changes to a field mission plan, or a different field to be cultivated with similar plants having similar characteristics, based on certain biomass attributes. As indicated by block 368, output module 262 directs processor 256 to adjust a mission plan and / or control writing by controlling when fertilizer is applied, what type of fertilizer or fertilizers is applied, where such fertilizers are to be applied in the field , at what rate such fertilizers should be applied in the field or operational parameters of the fertilizer application equipment, when it crosses different regions of the field based on one or more biomass attributes 34 in different regions of the field. As indicated by block 370, output module 262 directs processor 256 to adjust a mission plan and / or control writing by controlling when sowing during the next growing season should occur, what type of seed or growth stock should be used, where such seed or growth stock should be grown in the field, at what rate such seed or growth stock should be grown in the field or operating parameters of the sowing equipment when traversing different regions of the field based on one or more attributes of the biomass 34 in different regions of the field. As indicated by blocks 372 and 374, output module 262 directs processor 256 to adjust a mission plan and / or control writing by controlling when herbicide and / or insecticide is applied, what type of herbicide and / or insecticide is applied, where such herbicide and / or insecticide should be applied in the field, at what rate such herbicide and / or insecticide should be applied in the field or operational parameters of the application equipment, when it crosses different regions of the field based on one or more biomass attributes 34 in different regions of the field. As indicated by block 376, output module 262 directs processor 256 to adjust a mission plan and / or control writing by controlling when drainage or irrigation operations are performed, where such drainage or irrigation operations must be applied in the field, to what rate such greater tillage operations should be performed in the field or operational parameters of the braking or irrigation equipment when traversing different regions of the field based on one or more attributes of biomass 34 in different regions of the field.
[0062] Figure 5 is a diagram of an example 400 display screen from a monitor showing an example of a 404 map of a field portion mapping a given biomass moisture attribute to the biomass of different plants 30 that grew in different regions of the field. As shown in figure 5, a person can zoom in, zoom out or scroll through to view the different portions of the field and their associated biomass moisture values. Map 404 allows a person, as a manager, operator or similar, to visually determine the moisture content of the biomass that remains in the different portions of the field after harvest.
[0063] Figure 6 is a diagram of an example 450 screen display of a monitor showing an example 454 map of a portion of the field mapping a given biomass quantity attribute to the biomass of different plants 30 that grew on different countryside regions. With screens 400, a person can zoom in, zoom out or scroll through to view the different portions of the field and their associated biomass moisture values. Map 454 allows a person, as a manager, operator and the like, to visually determine the amount, as mass or volume, of biomass that remains in different portions of the field after harvest.
[0064] Figure 7 schematically illustrates another example biomass sensing system 520. The biomass sensing system 520 detects one or more attributes of biomass portions 34 of the harvested plants 30 with improved resolution. In an example modality, the term "resolution" refers to the level of detail with respect to geo-positioning data with respect to biomass and / or field maps. Resolution for crop data or field maps can be determined by the smallest unit, for which an attribute is sensed or for which an attribute is derived. Generally, the smaller the unit, the higher the resolution. The biomass sensing system 520 provides biomass data and maps a field using sensed or derived attributes and / or conditions identified for individual units or portions of the field having a width less than the width of a crop harvester used from a combine. For example, even though a combine may have a 12-row crop range, the crop production sensing system 20 can provide field biomass data or maps, providing biomass attributes such as quantity, moisture content or purity , for less than 12 rows, such as on a row-by-row basis or even on a plant-by-plant basis. The 520 biomass sensing system can be similarly implemented with respect to non-row crops and non-row harvesters. The higher resolution of crop data, provided by the biomass sensing system 20, facilitates more advanced and sophisticated crop management.
[0065] The biomass sensing system 520 comprises the harvester 522, the processor 530, the memory 532 and the output 534. The harvester 522 comprises an agricultural machine configured to collect, gather or harvest crops. Harvester 522 gathers or harvests such crops over an area or strip 523 comprising portions P1, P2 and P3. Each portion of the 522 harvester harvests crops from a distinct region of a field. In one implementation, portions P1, P2 and P3 of harvester 522 comprise individual row units for harvesting rows of individual crops. In another implementation, portions P1, P2 and P3 of harvester housing 22 comprise groups or subsets of individual row units. In some implementations, crops have not grown in rows, with each portion of harvester 22 harvesting a distinct area of crops along track 23 of harvester 522.
[0066] Combine harvester 522 is similar to harvester 22 described above with respect to figures 1 and 3, except that harvester 522 comprises the biomass portion sensor 526. Those remaining components of harvester 522, which correspond to the components of harvester housing 22 , are listed similarly in figure 7 or are shown in figures 1 and 3. The biomass portion sensor 526 comprises one or more sensors configured to detect or sensing one among more biomass attributes of the plants being harvested by the individual portions P1-P3 of the range 523 of harvester 522. Although harvester 22 is illustrated as including three such portions, in other implementations, range 23 of harvester 22 can be divided into more or less of such portions, where one or more of such portions are assigned to one or more sensors that determine one or more biomass attributes for the crop being harvested for each individual portion P1-P3.
[0067] In one implementation, the biomass portion sensor 526 is similar to the biomass portion sensor 26, described above, except that the biomass portion sensor 526 comprises multiple individual biomass portion sensors 26 (described above), spaced along the strip 523, where each individual sensor 26 detects and emits signals based on the one or more attributes of the plant biomass being harvested by the particular portion, as a particular row unit. In some implementations, the biomass portion sensor 526 may comprise multiple biomass portion sensors 26, spaced along the range 523, in which at least some of the biomass portion sensors 26 emit signals to multiple adjacent portions, so that such portions of range 523 share some of the biomass portion sensors 26. In still other implementations, the biomass portion sensor 526 comprises a single sensor, such as a camera, that detects biomass attributes for each of the P1-P3 portions, but it provides different signals for different portions of the 523 range, distinguishing the biomass attributes for the plants harvested in one portion compared to another portion of the 523 range.
[0068] The biomass sensing system 520 operates similarly to the biomass sensing system 220 described above, except that the biomass sensing system 520 collects one or more biomass attributes, maps the one or more biomass attributes to geospatial locations and / or make adjustments with respect to harvester 522 or with future mission plans / control scripts at a higher resolution, for each of the P1-P3 portions of range 523. For example, output 254, depending on the mode selected operating area, comprises display 270, which presents biomass attributes for each of the P1-P3 portions. Data storage 272, which stores biomass portion attributes for each of the P1-P3 portions. Data storage / mapping 274 maps biomass portion attributes to geospatial locations on the portion basis per portion of strip 523, similarly to maps 404 and 454 shown in figures 5 and 6, but with a resolution of that of the size of the P1- portions P3. Data storage / mapping 278 maps attributes from portion of biomass to portion attributes collected to geospatial locations based on portion by portion of range 523. Adjustment module 280 sets individual operating parameters for individual portions P1-P3 of harvester 522 when it crosses a field or adjusts a mission plan or control scripts for portions of a field, which are less than the width of the 523 range, nominally equal to the width of the P1-P3 portions. In other words, the biomass sensing system 520 performs each of the steps of method 300, but on a row-by-row basis or a portion-by-portion basis, depending on the number of rows or portions that are individually sensed by the one or more biomass portion sensors 526.
[0069] Figure 8 schematically illustrates a biomass sensing system 620, a particular implementation of the biomass sensing system 520. The biomass system 620 comprises an agricultural machine, an example of which is the illustrated harvester 622. The harvester 622 it comprises a mobile machine, configured to move through a field or plot of land while harvesting a crop. Combine harvester 622 is similar to harvester 522, except that harvester 622 comprises head 624, sensors 626A-626H (collectively referred to as 626 sensors) and sensors 628A-628H (collectively referred to as 628 sensors). Those remaining components of the combine 622, which correspond to the components of the combine 522, are similarly listed.
[0070] The 624 head comprises a mechanism configured to gather and harvest a crop along a strip. The head band 624 has a width used Wu, when harvesting crops. In an example modality, the width used Wu constitutes this portion of the length or bandwidth that is being used to harvest crops at a particular time. Although, in most cases, the width used Wu is equal to the physical length of the head band 624, in some circumstances, the width used Wu may constitute only a portion of the head band 624, such as along an end row , watercourse and / or similar. The head 624 includes various harvesting mechanisms, such as mechanisms for dividing or separating the crop from the rest of a plant. Such mechanisms may include knives or blades, spike separator plates, rollers, quick-fit rollers, augers, chains or conveyor belts and / or the like. In one implementation, the head 624 comprises a corn head for a combination, in which the corn harvester head separates ears of corn from the remaining stalk. In another implementation, the head 624 comprises a head that has spike separator plates or other mechanisms for separating other types of spikes from associated stems. In an implementation, the term "ear" refers to a part that supports the seed of a plant, such as ears of corn, flowers loaded with seeds, such as sunflowers, pods and the like. In another implementation, the head 624 may comprise a cultivation head for a combination, in which the grain along the stem is separated and subsequently threshed by the combination. In other implementations, the 624 head may have other configurations. For example, although head 624 is illustrated as being positioned at a front end of combine 622 and being interchangeable with other heads (facilitating the change of heads for corn and heads for grain), in other implementations, head 624 can be supported in other locations by harvester 322 and / or may be a component of the permanent, non-replaceable harvester 622.
[0071] Sensors 626 comprise mechanisms for sensing or detecting one or more attribute values for the biomass portion 34 of plants 30. Each of sensors 626 is similar to sensor 26 described above. Sensors 626 detect one or more biomass attribute values for the plants harvested for each portion of head 624 harvesting width or width along the entire head 624 range. In an example embodiment, sensors 626 are positioned and supported by the head 624. In an example embodiment, the sensors 626 are provided in each row harvest portion of the head 334. In other implementations, the sensor 626 can be provided through other locations.
[0072] Each of the 626 sensors detects one or more biomass attribute values for crops harvested by a corresponding distinct portion of the width used Wu. The 626 sensors collectively detect multiple biomass attribute values for a plurality of different portions of the width used Wu. In other words, each of the sensors 626 detects only a portion of the total crop being harvested at any time in time by the head 624, where each of the sensors 626 provides biomass attribute values for just this portion. For example, in one embodiment, each of the 626 sensors can sense a cultivation attribute for the plants along an individual row, providing biomass attributes "per row".
[0073] As shown by figure 8, in one circumstance, the entire head 334 can be received and harvest crops in such a way that the used width Wu of the head 624 is substantially equal to the physical width or head band 624. The sensors 626, each, they detect a portion smaller than the total portion or a fraction of the crop being harvested by the width used Wu. As indicated by separation 644, the width used Wu is divided or partitioned into 8 equal portions P1-P8, in which sensors 626A-626H each provide a distinct cultivation attribute value for crops received from portions P1- P8, respectively. Although the head 624 is illustrated as including eight row units with corresponding eight sensors, in other implementations, the head 624 may include a greater or lesser number of such row units and the sensors along the physical width or band of the head 624. For example, a row crop harvester may have more than or less than eight rows, where the head of the harvester may similarly share with more than or less than eight row sensing sensors. Although head 624 is illustrated as being divided into equal portions, in other example embodiments, head 624 is divided into unequal portions, in which sensors 626 detect biomass attributes for the unequal portions. For example, in another implementation, one of the sensors 626 detects or detects biomass attributes for an individual row, while another sensor 626 detects biomass attributes for a plurality of rows.
[0074] As shown in figure 8A, in some implementations, each of the 626 sensors can offer an even higher degree of crop sensing resolution because it is configured to detect biomass attribute values for the individual plants themselves. In some implementations, the sensed biomass attribute values for individual plants 30 can be aggregated into sets or collections 645 of the plants based on time, distance, a number of plants, and / or the like, to reduce the amount of data that is processed or stored. The aggregation of individual plant data can also improve the usability of the data by eliminating noise in the data.
[0075] In one implementation, the biomass portion sensors 626 emit signals that indicate a moisture content of the biomass portion 34. In one implementation, the biomass portion sensors 626 emit signals that indicate an amount or mass of the portion of biomass. biomass 34 interacted by the harvester 622. In one implementation, the biomass portion sensors 626 emit signals that indicate a purity or content of the biomass portion 34. For example, in some circumstances, the biomass portion 34 associated with the plants 32 may be co-piled or mixed with other biomass materials, such as weeds and the like. In such an implementation, biomass portion sensors 626 emit signals that indicate what percentage or mass is associated with biomass portion 34 from plants 30 and what percentage or mass associated with different or foreign biomass materials. In still other implementations, other attributes determined from the signals emitted by the sensors of the 626 biomass portion.
[0076] In one implementation, the biomass portion sensors 626 detect one among more attributes of the biomass portion 34 that are separated, collected and otherwise pass through the combine 622. In another implementation, the biomass portion sensors 626 detect one or more attributes of the biomass portion 34, associated with plants 30, regardless of whether the biomass portion 34 passes through harvester 622 or remains rooted in the soil after harvested portion 32 has been collected by harvester 622. For example , in one implementation, the biomass portion sensors 626 emit signals that indicate one or more attributes of a portion of the stalk and foliage of the plant 30 that has been separated and that is passing through the harvester 22 and / or one or more attributes of a rest of the stalk that remains rooted in the soil after such separation. In one implementation, the attributes of the rest of the plant 30 that remains rooted in the soil after such separation is determined based on signals that result from sensors of the biomass portion 626 interacting with the portions of the plants 30, which have been separated and are passing through harvester 622.
[0077] In one implementation, biomass portion sensors 266 comprise one or more acoustic sensors, in which sensors 626 emit signals based on sound or acoustic pressure, which results from the interaction of plant 30 with harvester 622. For For example, in an implementation, each sensor 626 emits signals based on the sound that results from the plant 30 being impacted on or hitting a surface of the combine 622. For example, in an implementation, each sensor 626 detects the sound of the portion harvested 32 impacting on a surface of the harvester 22.
[0078] In an implementation, in which the combine 622 comprises a combination for harvesting corn, each sensor 626 detects the impact of a corn ear impacting on ear separator plates or other portions of the harvest head of the combine 622. In another implementation , each sensor 626 detects the sound of the biomass portion 34 impacting a surface of the harvester 622. In one implementation, where harvester 622 comprises a combined maize collection, each sensor 626 detects the sound produced by the corn plant being separated or the sound produced by the deflection of the corn stock. Such sounds or crackles correspond to one or more attributes of the biomass portion 34, such as the moisture content, quantity and / or purity of the biomass portion 34.
[0079] In an example implementation of a corn head to harvest maize, each 626 biomass portion sensor comprises one or more acoustic sensors mounted or supported high on a "spike-protecting" rear-facing surface in each of the nozzles of the corn harvester head, with each sensor oriented so that it is focused in the direction to an ear impact zone on the ear harvester plates. In another example implementation of a combined head for harvesting corn, each 626 biomass portion sensor comprises one or more acoustic sensors mounted under a lower half of the nozzles in order to sense or capture the sound of a corn cob shock if crashing into the mouth. In yet another implementation of a corn harvesting head for corn harvesting, each 626 biomass portion sensor comprises one or more acoustic sensors mounted along the side of the stalk rolls or rollers, in order to sense the sound produced by interaction of the stem rolls with the stem, in which noise or acoustic pressure from crackling is attributed to the relative humidity content or other attributes of the biomass portion 34.
[0080] In another implementation, each 626 biomass portion sensor comprises one or more capacitive sensors. The portions of the plant 30, such as the harvested portion 32 or the biomass portion 34, interact with or pass the surface, the capacitive sensor that serves as the biomass portion sensor 626 undergoes or is subjected to a change in capacitance. Signs that indicate the change in capacitance also indicate one or more attributes of the harvested portion 32 and / or the biomass portion 34. In one implementation, such capacitive sensors detect the passage of dielectric material, in which the more moisture containing ions in the material passing by the capacitive sensor, the greater the signal emission by the sensor. In an implementation, the capacitive sensor can comprise a grid to facilitate the detection of the quantity or other attributes of the biomass portion 34.
[0081] In one implementation, each biomass portion sensor 626 comprises a capacitive sensor positioned below a surface of harvester 622 that interacts with plant 30. In an implementation, where harvester 622 comprises a corn harvester head, each biomass portion sensor 626 comprises one or more capacitive sensors that are coated or painted on the underside or inner side of the mouth, to protect biomass portion sensors 626 from the right exposure to where the crop or plant 30 is being processed or harvested. In yet other implementations, each 626 biomass portion sensor comprises one or more capacitive sensors that are laminated, bonded, adhered to or otherwise attached to a lower side within the mouth or are mounted elsewhere on the harvester head or elsewhere. downstream of the combine head.
[0082] In yet another implementation, each biomass portion sensor 626 comprises a deflection sensor or force sensor, which detects the deflection of one or more surfaces of the combine 622 as a result of interaction with the plant 30 or the portion biomass 34. For example, in an implementation where the harvester 622 comprises a corn harvester head for harvesting maize, each biomass portion sensor 626 comprises a deflection sensor for sensing the deflection or movement of the spike separator plates and / or head stem rollers. Signals from the one or more deflection sensors indicate stalk thickness, which indicates an amount or mass of the biomass portion 34, and / or indicates a moisture content or a purity content. Other examples of the 626 sensors include, but are not limited to, for example, light detection and optical radar (LIDAR or LADAR), structured light or stereo camera vision, strain gauges, and / or accelerometers (where the impact of cultivation is sensed), and / or the like.
[0083] The sensors 628 comprise the sensors configured to emit signals that indicate, directly or indirectly, one among more attributes of the harvested portion 32 of the plant 30. In an implementation, each harvested portion sensor 628 emits signals that indicate the quantity, such as mass or volume, of the harvested portion 32 collected or separated by the harvester 22. In one implementation, each harvested portion sensor 248 comprises one or more of the same sensors that serve as the biomass portion sensor 626. In another implementation, each portion sensor harvested 628 comprises the sensors, in addition to those the sensors that serve as the biomass portion sensor 626.
[0084] In one implementation, the harvested portion sensor 628 comprises an acoustic sensor supported by the harvester 622 in order to emit signals based on the impact of the harvested portion on the surfaces of the harvester 22. For example, in an implementation, each harvesting sensor harvested portion 628 comprises an acoustic sensor in order to emit signals based on the impact of corn cobs with a cob harvester plate or with the mouth of a corn harvester head.
[0085] In another implementation, each harvested portion sensor 628 comprises one or more accelerometers coupled to the surfaces of the harvester 22, which emit signals based on the impact of the harvested portion with harvester surfaces 22. For example, in one implementation, each sensor harvested portion 248 comprises one or more accelerometers mounted on, or otherwise supported by, a corn harvester head separator plates, in which the impact force of the corn cobs with the ear separator plates, in combination with other factors, such as the speed of the harvester, are used to determine the quantity of the harvested portion 32. In still other implementations, each harvested portion sensor 248 comprises other types of sensors, such as deflection sensors and the like. In yet other implementations, each harvested portion sensor 248 comprises combinations of different types of sensors to facilitate improved sensing accuracy and reliability. In one implementation, processor 330, following instructions contained in memory 328, interrogates sensor 338. In yet another implementation, sensor 338 provides data for processor 330.
[0086] As in the biomass sensing system 520, controller 252 in the biomass sensing system 620 uses signals from the biomass portion sensors 626 to determine attributes of the biomass portion 34 and uses such determined attributes to produce the output 254. In the illustrated example, in selected modes of operation, controller 252 additionally uses signals from sensors 628 to determine attributes of the harvested portion 32 of plants 30 to produce output 254. As noted above, output 254 can comprise an association harvested portion attributes to biomass portion attributes. Because the biomass sensing system 520 determines biomass attributes for plants harvested from each of the eight individual portions of the 624 head, the biomass sensing system 620 offers better data resolution and opportunities for more accurate crop management and field.
[0087] Figure 9 schematically illustrates the biomass sensing system 720, an example implementation of the biomass sensing system 20. The biomass sensing system 720 comprises the crop characterizer 723, the operator exit on board 724, the on-board operator input 726, positioning input 727, memory 728, on-board processor 730, static database 800, learned database 802, online database 804, communications 806, data processing service company 808 operations, third party service providers 810, other machines on site 812 and remote operators / observers 814.
[0088] Cultivation characterizer 723 comprises a device configured to sensor or detect multiple values for a plurality of different portions of the used width of a harvester. In the example described, cultivation characterizer 723 detects cultivation attributes or cultivation characteristics on at least one row basis per row. Individual rows of 820 crops are independently sensed and different attribute values can be identified and stored for the individual rows. In the example described, crop characterizer 723 detects biomass attributes on a plant-by-plant basis. Individual plants 822 are independently sensed and different attribute values can be identified and stored for individual plants or for a predefined aggregation of individual plants along a row 820 (for example, an aggregation based on time, distance or plant count, as described above). As a result, crop characterizer 723 facilitates the collection of data and field maps that have improved resolution, for more sophisticated crop analysis and management. In one example, cultivation attributes are defined by 723 cultivation characterization on both a plant-by-plant basis and a row-by-row basis. In another example, cultivation attributes are defined for a selected plant base per plant or row base per row.
[0089] Cultivation characterizer 723 comprises sensors 626, sensors 628 and one or more cameras 737. Sensors 626 and 628 are described above. Sensors 66 and 628 comprise mechanisms for simultaneously sensing or detecting one or more cultivation attribute values for multiple portions of the cultivator's used cultivation width. In other words, each of the sensors 626, 628 detects only a portion of the total crop being harvested across any point in time by the harvester 722, where each of the sensors 626 provides biomass attribute values for just this portion. As noted above, in one implementation, 626 sensors provide attribute values for biomass on a row-by-row basis. In another implementation, the 626 sensors provide biomass attribute values on a plant-by-plant basis.
[0090] In one implementation, camera 737 comprises an optical capture device, supported by the combine 722 to capture one or more rows 820 immediately before harvesting such rows 820. In one implementation, camera 737 captures images that are used to detect or determine one or more cultivation attributes or cultivation characteristics on a row-by-row basis or a plant-by-plant basis. In one implementation, the 737 camera employs stereo vision or LIDAR for such detection. In one implementation, camera 737 captures images of the crop prior to harvesting, in which individual images or portions of video are linked to the crop attribute values detected by sensors 626, 628. These values can be stored. The captured images or videos are linked and indexed in a time-based or location-based manner to particular regions, individual rows or individual plants for which data is detected by sensors 626, 6 to 8. As a result, when reviewing from directly sensed cultivation attribute values (as detected by 626 sensors) or derived cultivation attribute values for a particular region of a field, a particular set of rows in the field or a particular grouping of plants in the field, the operator can also retrieve and view images or videos of the current region of the field, the particular rows of the field or the particular plants of the field corresponding to the data being viewed on a graph or map. Thus, the 720 system allows an operator / monitor to visually review current crops to either identify one or more conditions that may have affected the cultivation attribute, such as production, or allows the operator / monitor to visually confirm the condition cultivation / field identified by the 730 processor as a reason for a particular crop production or other attribute. For example, based on data from sensors 626, 628, processor 730 can provide a conclusion that a drop in production was caused by a wet spot in the field. Camera 737 allows the operator to pull (from memory) stored video images, current, from the particular portion of the field to visually confirm previously recorded data.
[0091] In the illustrated example, system 720 offers several modes of operation for the 723 characterizer. In one mode, sensors 626 and / or sensors 628 can be used for characterization of cultivation. In another way, the camera 737 can be used for characterization of cultivation. In yet another mode, both sensors 626, 628 and camera 737 can be used for crop characterization.
[0092] In some implementations, crop characterizer 723 may additionally comprise a local 739 processor. Processor 739 receives signals from sensors 626, 628 and conditions of such signals prior to its transmission to the on-board processor 730 via an given 830. For example, in some implementations, processor 739 derives other cultivation attribute values from the signals before its transmission to processor 730. Processor 739 can filter such signals to reduce noise before transmission over the 830 link. in some implementations, processor 739 may cut data or compress data before transmission of such data via link 830 to processor 730 to reduce transmission and / or processing loads. In another implementation, processor 739 can be omitted.
[0093] Operator output on board 724 comprises one or more devices supported by combine 722, whereby information and data can be presented to an operator on board combine 722. Output 724 may comprise a display comprising a monitor or screen with or without a speaker. The onboard operator input 726 comprises one or more devices supported by the combine 722, through which selections and / or data can be fed, entered and provided by a local operator 832 driving or operating the combine 722. Examples of input 726 include, but are not limited to, they are not limited to a keyboard, a touch pad, a touch screen, a steering wheel or steering control, a joystick, a microphone with associated speech recognition software and / or the like. In one implementation, input 726 can be provided as part of output 724 in the form of a touchscreen.
[0094] Positioning input 727 comprises an input for processor 730, which provides geodata for processor 730. In other words, input 727 provides location or positional information for processor 730. For example, in an implementation, positioning input 727 may comprise a global positioning system (GPS) receiver. In other examples, other sources of geodata can be used.
[0095] Memory 728 comprises a non-transitory computer readable medium or persistent storage device for storing data for use by processor 730 or generated by processor 730. In an implementation, memory 728 may additionally store instructions in the form of code or software for the 730 processor. Instructions can be loaded into random access memory (RAM) for execution by the 730 processor from a read-only memory (ROM), a large-capacity storage device, or some other storage persistent. In other embodiments, a circuit formed by wires can be used in place of, or in combination with, software instructions, to implement the functions described. For example, at least regions of memory 728 and processor 730 can be incorporated as part of one or more application-specific integrated circuits (ASICs). In the illustrated example, memory 728 is supported by harvester 722. In other implementations, memory 728 can be provided remote to harvester 722.
[0096] In the illustrated example, memory 728 comprises the configuration module 750 and the correlation module 754. The configuration module 750 comprises software code and associated stored data related to the system configuration 720. In the illustrated example, the configuration module configuration 750 includes sub-modules that guide the processor 730 to advise an operator's selections, to store such selections and to operate according to various selections. The stored selections control how processor 730 manipulates and analyzes data from characterizer 723 and how data or information is presented to output 724. In the illustrated example, configuration module 750 comprises interval sub-module 770, processing 772 and notification sub-module 774, which cooperate to present a display screen featuring biomass attribute and crop production information. Interval module 770 warns and stores operator input that refers to how individual plants should be aggregated. Processing sub-module 772 notifies and stores operator input related to how such data should be processed, for example, using statistical values such as mean, median or range. Notification sub-module 774 notifies and stores display settings.
[0097] The correlation module 754 comprises programming, software or code to direct the operation of the 730 processor. The correlation module 754 instructs the processor 730 in the correlation of one or more directly sensed cultivation attribute values, detected by the 626 sensors, 628 for derived crop attribute values. In other words, correlation module 754, similarly to attribute determination module 260, instructs processor 730 and the derivation of biomass attribute values, such as production, and / or the like, from cultivation attribute values , directly sensed, or possibly together with other factors or inputs. In one implementation, correlation module 754 directs processor 730 to query a verification table in a database to correlate signals produced by sensors 626 to one of the more biomass attribute values, the derived biomass attribute value. In another implementation, correlation module 754 directs processor 730 to execute one or more mathematical algorithms / equations based on a sensed impact of a plant or grain, sensing capacitance values, sensed forces or the like to derive a biomass attribute, such as moisture content, quantity or purity. In other implementations, the correlation module 754 can direct processor 730 to attribute values of biomass, derived from attribute values, directly sensed, of cultivation, in other ways.
[0098] Static database 800 comprises data storage containing data related to historical or pre-defined data, such as historical seeding data, historical production information, historical field or soil data (for example, topography, type of ground). Static database 800 can additionally contain tables and other information to correlate the sensed values of cultivation attribute with the derived attribute values. Learned database 802 comprises a data store containing data that varies when the combine 722 moves across the field. 802 database stores the cultivation attribute values, directly sensed in a crude way, from sensors 626, 638 and / or camera 737, videos or images captured by the camera, derived cultivation attribute values, and operational parameters of harvester, variable or adjustable, for example, harvester speed, head height, and other harvester settings. In one example, the 802 database still stores GPS data.
[0099] In the illustrated example, the static database 800 and the learned database 802 comprise databases that are part of the memory 728 on board the harvester 722. In other implementations, such databases 800, 802 may be remote to the harvester 722 and can be accessed via the 806 communication. Online database 804 comprises a database, which is accessed via a wide area network or a local area network using the 806 communication. -line 804 may contain additional information for use by processor 730 and harvester 722. Communication 806 comprises a communication network that facilitates communication between harvester 722 and remote facilities, such as online database 804, office 808, the service provider 810, other machines at site 812 and the remote operator / observer 814.
[00100] Service processing the operations of the company 808 comprises a remote location to the harvester 722 such as the domestic farm. Service processing of company 808 operations can include computing devices and a database, where processor 730 transmits data stored in the learned database 802 to office 808 through communication 806 for backup and / or remote analysis. Third party service provider 810 comprises a server communicating with the combine 722 through communications 806 and associated with a third party, such as an agronomist, a seed trader, a seed company, a chemical, insecticide, or fertilizer supplier , or third party data storage host.
[00101] As indicated by figure 9, other harvesters or other machines in a particular workplace or field may also be in communication with the harvester 722 via 806 communications. As a result, sensed crop data can be shared between such multiples machines in a particular field or workplace. In some implementations, the harvester 722 can communicate with the remote operator / observer 814 via communications 806. As a result, the harvester 722 can be remotely controlled (the direction of the harvester 722 and / or the adjustment of settings for the operation of crop sensing by harvester 722).
[00102] Figure 10 illustrates the biomass sensing system 920, an example of the biomass sensing system 20 or an example of the biomass sensing system 720. Figure 9 illustrates the biomass sensing system 920 specifically as part of a 922 combine (in the form of a combination). The biomass sensing system 820 comprises each of the components illustrated and described with reference to figure 9, some of which are shown and similarly listed in figure 10.
[00103] Combine harvester 922 comprises a chassis 1012 that is supported and powered by ground hitch wheels 1014. Although harvester 922 is illustrated as being supported and propelled on ground hitch wheels 1014, it can also be supported and propelled by full tracks or track halves. A 1016 harvest set (shown as a corn harvester head) is used to capture crop and to lead it to a 1018 feeder. Cultivation is conducted by feeder 1018 to a 1020 beater. Beater 1020 guides the crop upward through from a 1022 intake transition region to a 1024 rotary threshing and separating set. Although the combine 922 is described as a rotary combine machine, in other implementations, the 922 combine can comprise other types of combination machines (for example, combination machines that have a transverse threshing cylinder and straw picker or combined machines that have a transverse threshing cylinder and rotary separator rotors) or other agricultural harvesting machines including, without limitation, self-propelled forage harvesters, sugar cane harvesters, and harvesters aligners.
[00104] The rotary threshing and separating assembly 1024 comprises a rotor housing 1026 and a rotor 1028 arranged in the rotor housing 1026. The harvested crop enters the rotor housing 1026 through the intake transition region 1022. The threshing assembly and 1024 rotary separation threshing and separating the harvested crop. Grain and straw fall through grids at the base of the rotor housing onto a 1034 cleaning set. The 1034 cleaning set removes the straw and leads the cleaned grain to a 1036 grain elevator, which leads upward to a screw conveyor. distribution 1038. The 1038 distribution screw conveyor deposits the clean grain in a 1040 grain tank. The clean grain in the 1040 grain tank can be unloaded via a 1042 unloading screw inside a trailer or truck. Threshed straw separated from the grain is driven out of the 1024 threshing and separating assembly through an outlet to a 1046 unloader. The unloader 1046 ejects the straw out the rear of the 1022 harvester.
[00105] The operation of the combine 922 is controlled from an operator's cabin 1048. In the illustrated mode, the positioning input 727 (a geographic position sensor in the form of a receiver) for the reception of GPS signals (tracking system) global positioning) is affixed above the 1048 operator's station. A speed sensor that measures the speed of the 1014 wheels can be provided. Mounted on one side of the 1036 clean grain elevator is a 1052 capacitor moisture sensor to measure the moisture content of the clean grain. Such a sensor is exposed in DE 199 34 881 A, the total exposure of which is incorporated here for reference. A mass flow sensor 1054 is positioned at the outlet of the clean grain elevator 1036. The mass flow sensor 1054 comprises an impact plate, mounted for rotation about a horizontal axis. Its deflection is dependent on the mass flow of the clean grain. The deflection of the impact plate is measured and thus given on the mass flow of the harvested grain is provided. Such a sensor is described in EP 0 853 234 A (the full exposure of which is hereby incorporated by reference) and the documents mentioned therein.
[00106] As still shown in figure 10, the crop sensing control unit 1056 is positioned in the operator's cabin 1048 or somewhere else on the combine 922. The crop sensing control unit 1056 comprises each memory 728, processor 730 and databases 800, 802, described above with reference to figure 9. The crop sensing control unit 1056 is in communication with the positioning input 727, the humidity sensor 1052, the mass flow sensor 1054, the sensor speed, when present, and sensors 626, 628. The crop sensing control unit 1056 is provided with an internal clock or receives external time signals, for example, from input 727. The crop sensing 1056 records the amount of grain harvested, measured using the mass flow sensor 1054, and its moisture content, measured using the humidity sensor 1052, depending on the geographic position of the combine 922 (measured via positioning input 727, for example, a global positioning system (GPS) or a global satellite navigation system (GNSS) receiver). The crop sensing control unit 1056 additionally receives signals and / or data from sensors 626 and derives one or more crop attribute values for each of the multiple distinct portions of the 916 harvesting platform. In one implementation, the unit of crop sensing control 1056 derives one or more cultivation attributes for individual rows or row units of the 1016 harvest platform, where data is processed and stored on a row by row basis. In another implementation, the 1056 crop sensing control unit derives and stores one or more cultivation attributes for the individual plants or aggregations of individual plants. The crop sensing control unit 1056 records the data in the learned database 802 and produces a summary of the field, which can also be stored in the learned database 802 and displayed at output 724. In one implementation, the control unit of crop sensing 1056 creates a biomass map that indicates changes in biomass attributes across a field.
[00107] Although the preferred embodiments of the invention have been illustrated and described, it will be appreciated that various changes can be made to it without departing from the spirit and scope of the invention. For example, although different example modalities may have been described as including one or more characteristics that provide one or more benefits, it is contemplated that the described characteristics can be exchanged for others or combined alternatively with others in the described modalities of example or in other modalities alternatives. A person skilled in the art will understand that the invention can also be practiced without many of the details described above. Consequently, it is intended to include all such alternatives, modifications and variations exposed within the spirit and scope of the appended claims. In addition, well-known structures or functions may not have been shown or described in detail because such structures or functions would be known to a person skilled in the art. Unless a term is specifically and briefly defined in this description, the terminology used in the present description is intended to be interpreted in its broadest reasonable manner, although it can be used in conjunction with the description of certain specific embodiments of the present invention.

权利要求:
Claims (22)
[0001]
1. A biomass sensing apparatus, comprising: a combine (22) for interacting with plants in order to separate a harvested portion (32) from a biomass portion (34) from each of the plants; at least one sensor (26) supported by the combine (22) to emit a signal that is indicative of an attribute of the biomass portion (34), characterized by the fact that: the at least one sensor (26) is supported by a nozzle a harvester head (22) under the header of the harvester head (22); wherein the apparatus further comprises: a processor (256) following instructions contained in a memory (258) directing the processor (256) to determine an attribute value of the biomass portion (34) based on the signal.
[0002]
2. Apparatus according to claim 1, characterized by the fact that the attribute comprises a moisture content of the biomass portion (34).
[0003]
3. Apparatus according to claim 1, characterized by the fact that the attribute comprises an amount of the biomass portion (34).
[0004]
4. Apparatus according to claim 1, characterized by the fact that the combine (22) comprises: a head divided (624) into portions wide, the at least one sensor (26) to emit signals for each of the portions of width, the signs being based on the attribute of the biomass portion (34) of the plants interacted over each of the head width portions; and an outlet (254) for recording the biomass portion attribute (34) of the plants for each of the width portions.
[0005]
5. Apparatus according to claim 1, characterized by the fact that it further comprises: a head divided (624) into portions wide, the at least one sensor (26) for emitting signals for each of the portions wide, the signals being based on the attribute of the biomass portion (34) of the plants interacted over each of the head width portions; an outlet (254) for recording the attribute of the biomass portion (34) of the plants for each of the width portions; a location sensor for sensing a combine location (22) in a field containing the plants; and a controller (252) for mapping the attribute of the biomass portion (34) being gathered for regions of the field, where the attribute of the biomass portion (34) mapped for regions of the field has a resolution that is a size of the portions of combine width (22).
[0006]
6. Apparatus according to claim 1, characterized by the fact that it further comprises: a location identifier (250) to identify a harvester location (22) in a field containing the plants while the harvester (22) is interacting with the plants; and a controller (252) to map the attribute of the biomass portion (34) to regions of the field.
[0007]
Apparatus according to claim 1, characterized by the fact that it further comprises: at least one sensor (26) supported by the harvester (22) to emit a signal based on an attribute of the harvested portion (32); and a controller (252) to identify harvested portions and portions of biomass that originate from the same one or more plants and to store a record that links attributes of the harvested portions and attributes of the biomass portions that are identified as being from the same one or more plants.
[0008]
8. Apparatus according to claim 1, characterized by the fact that it further comprises: a location identifier (250) to identify a harvester location (22) in a field containing the plants while the harvester (22) is interacting with the plants; and a controller (252) to identify harvested portions (32) and biomass portions (34) that originate from the same one or more plants and to store a record mapping attributes of the harvested portions (32) and attributes of the biomass portions (34 ) that are identified as being one or more plants for regions of the field.
[0009]
9. Apparatus according to claim 1, characterized by the fact that it further comprises a controller (252) for emitting control signals based on the attribute of the biomass portion (34), the control signals causing the harvester (22 ) change one or more operational parameters.
[0010]
10. The apparatus according to claim 1, characterized by the fact that it also comprises a controller (252) to emit control signals based on the attribute of the biomass portion (34) while the harvester (22) is crossing a field, the control signals causing the harvester (22) to change one or more operational parameters while the harvester (22) is crossing the field.
[0011]
11. Apparatus according to claim 1, characterized by the fact that at least one sensor (26) is selected from a group of sensors consisting of: an acoustic sensor for sensing noise created by the interaction of the biomass portion (34) of the plants with the combine (22); and a capacitive sensor for sensing the dielectricity of the biomass portion (34) of the plants with the harvester (22).
[0012]
12. Apparatus according to claim 1, characterized by the fact that the signals are based on at least one attribute of a portion of a plant's stem and foliage.
[0013]
13. Apparatus according to claim 1, characterized by the fact that the at least one sensor (26) emits the signal in response to a first interaction of the interaction of the biomass portion (34) with the harvester head (22).
[0014]
14. Biomass sensing apparatus, comprising: a harvester (22) for interacting with plants in order to separate a harvested portion (32) from a biomass portion (34) of each of the plants; and at least one sensor (26) supported by the combine (22) to emit a signal based on an attribute of the biomass portion (34), characterized by the fact that the at least one sensor (26) is supported by a head. harvester (22), wherein the at least one sensor (26) comprises an acoustic sensor that detects noise created by the interaction of the biomass portion (34) of each of the plants with the harvester head (22).
[0015]
15. Apparatus according to claim 14, characterized by the fact that the acoustic sensor detects noise created by the interaction of the biomass portion (34) of each of the plants with a nozzle of the harvester head (22).
[0016]
16. Apparatus according to claim 14, characterized by the fact that the acoustic sensor detects noise created from the interaction of head stem rolls with stems.
[0017]
17. Apparatus according to claim 14, characterized by the fact that the acoustic sensor detects noise created from the interaction of a corn cob hitting against a harvester head separator plate (22).
[0018]
18.The biomass sensing apparatus, comprising: a harvester (22) for interacting with plants in order to separate a harvested portion (32) from a biomass portion (34) of each of the plants; and at least one sensor (26) supported by the combine (22) to emit a signal based on an attribute of the biomass portion (34), characterized by the fact that the at least one sensor (26) is supported by a head. harvester (22), wherein the at least one sensor (26) comprises a capacitive sensor on the underside of a mouth.
[0019]
19. Apparatus according to claim 18, characterized by the fact that the capacitive sensor is coated on a lower side of the mouth.
[0020]
20. Biomass sensing apparatus, comprising: a harvester (22) for interacting with plants in order to separate a harvested portion (32) from a biomass portion (34) of each of the plants; at least one sensor (26) supported by the combine (22) to emit a signal that is indicative of an attribute of the biomass portion (34), characterized by the fact that the at least one sensor (26) is supported by a head harvester (22) under a mouth of the harvester head (22); and a processor (256) following instructions contained in a memory (258) directing the processor (256) to determine a biomass portion attribute value (34) based on the signal, where the attribute comprises a moisture content of the portion of biomass (34).
[0021]
21. Biomass sensing apparatus, comprising: a combine (22) for interacting with plants in order to separate a harvested portion (32) from a biomass portion (34) from each of the plants; at least one sensor (26) supported by the combine (22) to emit a signal that is indicative of an attribute of the biomass portion (34), characterized by the fact that the at least one sensor (26) is supported by a head harvester (22) under a mouth of the harvester head (22); a processor (256) following instructions contained in a memory (258) directing the processor (256) to determine a biomass portion attribute value (34) based on the signal; and a controller (252) for emitting control signals based on the biomass portion attribute (34), the control signals causing the combine (22) to change one or more operational parameters.
[0022]
22. Apparatus according to claim 18, characterized by the fact that sensor detection portions are contained within the mouth in order to be protected from direct exposure to the plants being harvested.

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法律状态:
2016-02-02| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|

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2018-08-07| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

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2021-03-16| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 28/07/2015, OBSERVADAS AS CONDICOES LEGAIS. |

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申请号 | 申请日 | 专利标题

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US14/446,264|2014-07-29|

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US14/446,264|US10034423B2|2014-07-29|2014-07-29|Biomass sensing|

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