Abstract: In accordance with an example embodiment, a vehicle includes a moveable member, posture sensing system, bird's-eye camera system, display, and controller. The posture sensing system indicates the moveable member's posture. The bird's-eye camera system provides images of its field of view, including the ground adjacent to the vehicle. The controller receives a posture signal from the posture sensing system, receives images from the camera system, creates a rendered vehicle representation, creates a rendered path projection, and generates a dynamically augmented bird's-eye view then displays it on the display. The moveable member is positioned in the rendered vehicle representation using the posture signal. The rendered path projection includes an outer envelope line projecting the path of an outermost point of the vehicle, determined using the posture signal. The dynamically augmented bird's-eye view is generated using the images, rendered vehicle representation, and rendered path projection.

Abstract: Methods and apparatus for assessing coordinate data are disclosed. An example apparatus includes a processor to receive coordinate data relating to a desired path and task of a vehicle. The processor of the example apparatus to determine if the coordinate data satisfies a threshold. The processor of the example apparatus to determine if the coordinate data is compatible with a positioning system of the vehicle. The processor of the example apparatus to authorize operation of the vehicle to traverse the desired path based on the coordinate data.

Abstract: A system for spraying plants comprises a location-determining receiver for estimating a position of a sprayer with respect to one or more rows of plants. A distance sensor is arranged to measure a distance between a nozzle assembly and a plant row segment. A guidance module is adapted to align the nozzle assembly with a target path between the rows of plants, such as a centered path between the rows, or offset between the rows of the plants. A first nozzle is targeted toward a first zone with respect to the plant row segment based on a first spray pattern of the first nozzle. A second nozzle is targeted toward a second zone with respect to the plant row segment based on a second spray pattern of the second nozzle. A nozzle selection module for selecting automatically a first nozzle or a second nozzle based on maximum coverage of a target zone around the plant segment based on the first zone, the second zone, and the measured distance.

Abstract: Systems, methods, and devices for receiving soil parameter data of a worksite and identifying one or more locations of the worksite for treatment based on the received soil parameter data are disclosed. In some implementations, the soil parameter data include thermal latency data. Soil compaction data of the worksite may be derived from the thermal latency data. A soil parameter map of the worksite may be generated based on the received soil parameter data, and a plan of action, such as identifying one or more locations to perform a soil treatment operation, may be determined based on the soil parameter map.

Abstract: An object identification system on a mobile work machine receives an object detection sensor signal from an object detection sensor, along with an environmental sensor signal from an environmental sensor. An object identification system generates a first object identification based on the object detection sensor signal and the environmental sensor signal. Object behavior is analyzed to determine whether the object behavior is consistent with the object identification, given the environment. If an anomaly is detected, meaning that the object behavior is not consistent with the object identification, given the environment, then a secondary object identification system is invoked to perform another object identification based on the object detection sensor signal and the environmental sensor signal. A control signal generator can generate control signals to control a controllable subsystem of the mobile work machine based on the object identification or the secondary object identification.

Abstract: A radio frequency (RF) grain mass and constituent measurement system utilized onboard a combine harvester includes an RF sensor subsystem for capturing RF sensor readings of a harvested grain within an area of the combine harvester. A memory stores an RF characteristic database, which contains RF characteristic testing data collected for tested grain samples over one or more tested frequency ranges. A controller, operably coupled to the RF sensor subsystem and to the memory, is configured to: (i) receive the RF sensor readings from the RF sensor subsystem; (ii) determine grain mass and a first constituent content of the currently-harvested grain based, at least in part, on an analytical comparison between the RF sensor readings and the RF characteristic testing data; and (iii) perform at least one action in response to determining the grain mass and the first constituent content of the harvested grain.

Abstract: A second data processor determines candidate passes of the second vehicle in alignment with the defined plant rows to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second vehicle and row spacing of the second vehicle, wherein the one or more candidate passes are associated with the defined plant rows consistent with a planned guidance path. From the present position and heading of the second vehicle, a user interface or display displays the determined candidate passes to minimize overlap of adjacent candidate passes of the second vehicle and to minimize any yield loss associated with unharvested/untreated passes or zones within the work area or field. The user interface or display supports selection of one of the displayed or presented candidate passes as the planned guidance path of the second vehicle consistent with the provision of area coverage of the work area or field.

Abstract: A sensor system for monitoring vapor concentrations associated with an agricultural implement is disclosed. The sensor system comprises a first sensor coupled to a support structure that is configured to sense a concentration of at least one component of a vapor sample associated with dispensed ammonia that is emitted from the soil. A controller is communicatively coupled to the first sensor, and is configured to receive and process output signals generated by the first sensor to determine an amount of the concentration of the at least one component that is loss during emission.

Abstract: A method for treating plants comprises estimating a growth state or maturity state of a plant based on a planting date, a current date and the crop type of the plant. A root zone estimator or data processor estimating a size, diameter or radius of a root zone of the plant based on the determined growth state or maturity state. The data processor adjusts a lateral offset of a distribution pattern of a crop input or nutrient from at least one nutrient knife based on the size, diameter or radius of the root zone and safety zone about the root zone, where the at least one nutrient knife tracks a path outside of or bounded by the root zone.

Abstract: One or more information maps are obtained by an agricultural work machine. The one or more information maps map one or more agricultural characteristic values at different geographic locations of a field. An in-situ sensor on the agricultural work machine senses an agricultural characteristic as the agricultural work machine moves through the field. A predictive map generator generates a predictive map that predicts a predictive agricultural characteristic at different locations in the field based on a relationship between the values in the one or more information maps and the agricultural characteristic sensed by the in-situ sensor. The predictive map can be output and used in automated machine control.

Abstract: One or more information maps are obtained by an agricultural work machine. The one or more information maps map one or more agricultural characteristic values at different geographic locations of a field. An in-situ sensor on the agricultural work machine senses an agricultural characteristic as the agricultural work machine moves through the field. A predictive map generator generates a predictive map that predicts a predictive agricultural characteristic at different locations in the field based on a relationship between the values in the one or more information maps and the agricultural characteristic sensed by the in-situ sensor. The predictive map can be output and used in automated machine control.

Abstract: One or more information maps are obtained by an agricultural work machine. The one or more information maps map one or more agricultural characteristic values at different geographic locations of a field. An in-situ sensor on the agricultural work machine senses an agricultural characteristic as the agricultural work machine moves through the field. A predictive map generator generates a predictive map that predicts a predictive agricultural characteristic at different locations in the field based on a relationship between the values in the one or more information maps and the agricultural characteristic sensed by the in-situ sensor. The predictive map can be output and used in automated machine control.

Abstract: A method of controlling a work machine on a worksite includes receiving an indication of a work machine assignment having a worksite location and corresponding assignment criteria associated with completion of the work machine assignment, receiving a set of worksite conditions at the location, and identifying a set of machine capabilities, each machine capability corresponding to operation of a controllable subsystem on the work machine. The method includes generating a likelihood metric indicative of a likelihood that the assignment criteria will be met based on the set of worksite conditions and the set of machine capabilities, comparing the likelihood metric to a threshold, and generating a control signal that controls the work machine based on the comparison.

Abstract: A monitoring device for monitoring crop yield is disclosed. The monitoring device is mounted to a housing of a grain elevator of an agricultural work machine proximate a crop conveyor assembly arranged in the housing and has at least one aperture formed therein. A material engagement member is arranged on the mounting structure and is pivotal with respect to the mounting structure about a pivot point. The material engagement member can comprise first end and a second end opposite of the first end. At least one rotational sensor is arranged in the monitoring device and is configured to detect spatial movement or position of the material engagement member. A processing device is coupled to the at least one rotational sensor and is configured to determine an aggregate crop yield based on the detected rotational magnitude of the displacement of the first end or second end.

Abstract: Transmit patches lie on the outer set of conductive patches that are coupled to the transmitter via the signal splitter. The receive patches lie on the outer set of conductive patches that are coupled to one or more receivers to receive a radio frequency field (e.g., fringing field) associated with the transmitted signal of one or more adjacent corresponding transmit patches. A detector is associated with one or more respective receivers for determining or estimating an attenuation of the radio frequency field (e.g., fringing field). An electronic data processor is arranged for evaluating the estimated attenuation to estimate the grain loss content and material other than grain content of the agricultural material.

Abstract: Transmit patches lie on the outer set of conductive patches that are coupled to the transmitter via the signal splitter. The receive patches lie on the outer set of conductive patches that are coupled to one or more receivers to receive a radio frequency field (e.g., fringing field) associated with the transmitted signal of one or more adjacent corresponding transmit patches. A detector is associated with one or more respective receivers for determining or estimating an attenuation of the radio frequency field (e.g., fringing field). An electronic data processor is arranged for evaluating the estimated attenuation to estimate the amount, volume, mass or flow (e.g., yield) of harvested agricultural material and/or other than grain content of the agricultural material.

Abstract: In accordance with an example embodiment, a method for directing a work machine to one or more worksites from a selection of candidate worksites is disclosed. The method includes receiving obscurant data related to a forecast availability of obscurants at one or more worksites; receiving environmental data related to the suppression, creation, transportation, or direction of obscurants; and receiving operational data related to machine components and the ability of the machine components to generate obscurants or have performance degraded by obscurants at the one or more worksites. Determining an obscurant metric for each of the one or more worksites based on the obscurant data, the environmental data, and the operational data; and directing the work machine to the one or more worksites based on the obscurant metric.

Abstract: In accordance with an example embodiment, a system and method for obscurant mitigation is disclosed. The system comprises an obscurant assessor configured to characterize one or more characteristics of a detected obscurant and generate an obscurant model; an obscurant mitigator configured to perform one or more mitigation operations; and a controller communicatively coupled to each of the obscurant assessor and the obscurant mitigator. The controller is configured to receive an output signal from a vehicle sensor corresponding to a detected obscurant level and determine if the detected obscurant level exceeds a predetermined threshold. The controller generates an obscurant mitigation plan if the detected obscurant level exceeds the predetermined threshold based on the obscurant model generated by the obscurant assessor; and controls operations of an obscurant mitigator based on the obscurant mitigation plan to reduce the detected obscurant level.

Abstract: An unmanned aerial vehicle (UAV) flies to a location of a ground control point, and provides a mark for imaging by an aerial vehicle. The UAV remains at the ground control point and collects GNSS data to localize the point. The ground control point may be marked on the ground by the UAV, or it may be on an upper surface of the UAV that is visible to the aerial vehicle.

Abstract: A sensing system bias is reduced across a first agricultural machine and a second agricultural machine. A collection of agronomic data is accessed, that is indicative of an estimated crop yield. The collection that is accessed, for example, includes at least a first set of data sensed by the first agricultural machine and a second set of data sensed by the second agricultural machine. In addition, the first and second sets of data can be scaled based on a yield correction factor. A bias between the scaled first set of data and the scaled second set of data is determined, and a smoothing operation is performed on the scaled first and second sets of data.