阅读说明：本技术 基于区域参数修改的移动式作业机器控制 (Mobile work machine control based on regional parameter modification ) 是由 巴努·基兰·雷迪·帕拉 内森·R·范迪克 诺埃尔·W·安德森 于 2021-03-17 设计创作，主要内容包括：在专题地图上动态地标识控制区域,并且为每个控制区域动态地标识作业机器致动器设置。感测所述作业机器的位置,并且基于所述作业机器所处的所述控制区域以及基于对应于所述控制区域的所述设置而控制所述作业机器上的致动器。当满足了修改标准时,可以在操作期间修改控制区域中的致动器设置。然后,所述控制区域在近实时显示器上被划分成所述控制区域的被收割部分和尚未被收割并且具有所述修改后的致动器设置值的新控制区域。然后,为所述已收割的控制区域并且为所述新控制区域生成并且存储记录。(Control areas are dynamically identified on a thematic map, and work machine actuator settings are dynamically identified for each control area. A position of the work machine is sensed and an actuator on the work machine is controlled based on the control zone in which the work machine is located and based on the setting corresponding to the control zone. When the modification criteria are satisfied, the actuator settings in the control region may be modified during operation. The control area is then divided on a near real time display into a harvested portion of the control area and a new control area that has not been harvested and has the modified actuator settings. Then, a record is generated and stored for the harvested control area and for the new control area.)

1. A computer-implemented method of controlling a mobile work machine, the method comprising:

obtaining a representation of a portion of a worksite divided into a plurality of control regions, each control region corresponding to a control parameter value for a control parameter of a Work Machine Actuator (WMA) on the mobile work machine;

identifying a location of the mobile work machine in a current control area on the worksite;

controlling the work machine actuator based on the control parameter value corresponding to the current control region;

detecting initiation of a parameter value modification operation;

detecting a modification of the control parameter value from a first value to a second value;

controlling the work machine actuator based on the second value of the control parameter;

modifying the representation to include: a completed control area corresponding to a portion of the current control area that has been operated on by the mobile work machine and that corresponds to the first value of the control parameter; and an incomplete current control area corresponding to a portion of the current control area that has not been processed by the mobile work machine and that corresponds to the second value of the control parameter.

2. The computer-implemented method of claim 1, further comprising:

generating a near real-time display showing the completed control area, the incomplete control area, and a position of the mobile work machine relative to the completed control area and the incomplete control area.

3. The computer-implemented method of claim 1, wherein obtaining a representation of a portion of the worksite comprises:

accessing a map of the worksite divided into a plurality of control areas;

detecting a geographic location and orientation of the mobile work machine; and

locating the mobile work machine on the map of the worksite based on the geographic location and orientation of the mobile work machine.

4. The computer-implemented method of claim 3, wherein controlling the work machine actuator based on the control parameter value comprises:

identifying the current control area in which the mobile work machine is operating;

accessing a first parameter record corresponding to the current control region and the work machine actuator; and

identifying the control parameter value in the first parameter record.

5. The computer-implemented method of claim 4, further comprising:

modifying the first parameter record to correspond to the completed control region.

6. The computer-implemented method of claim 5, further comprising:

generating a second parameter record corresponding to the incomplete current control area, the second parameter record including the second value of the control parameter value.

7. The computer-implemented method of claim 6, further comprising:

identifying other incomplete control areas on the worksite that are similar control areas to the incomplete current control area.

8. The computer-implemented method of claim 7, further comprising:

for each similar control area, determining whether to modify a control parameter value corresponding to the similar control area; and

if so, modifying the control parameter value corresponding to the similar control region based on changing the parameter value of the current control region from the first value to the second value.

9. A control system for a mobile work machine, the control system comprising:

a machine position identifier that identifies a position and an orientation of the mobile work machine;

a current control region identification system that positions the mobile work machine in a current control region on a map of a worksite in which the mobile work machine is operating, the map divided into a plurality of control regions, each control region having a corresponding parameter value of a control parameter corresponding to a Work Machine Actuator (WMA);

a work machine actuator control parameter identification system that identifies the parameter value corresponding to the current control region;

a control signal generator that generates a control signal for controlling a work machine actuator (218) corresponding to the identified parameter value;

a modified value identifier that detects a modified value that changes the parameter value to a modified value, the control signal generator generating a control signal for controlling the work machine actuator based on the modified value of the control parameter; and

a current region modification processing system that modifies the map to include: a completed control area corresponding to a portion of the current control area that has been operated on by the mobile work machine and that corresponds to a parameter value of the control parameter prior to modification; and an incomplete current control area corresponding to a portion of the current control area that has not been processed by the mobile work machine and that corresponds to the modified value of the control parameter.

10. A computer-implemented method of controlling a mobile work machine, the method comprising:

accessing a map of a worksite divided into a plurality of different control regions, each control region corresponding to a control parameter value of a control parameter of a Work Machine Actuator (WMA) on the mobile work machine;

generating a near real-time display showing the worksite divided into the control areas, the near real-time display showing a position and orientation of the mobile work machine in a current control area on the worksite;

controlling the work machine actuator based on the control parameter value corresponding to the current control region;

displaying an actuatable value modifying interface mechanism, the value modifying interface mechanism actuated to modify the control parameter value from a first value to a second value;

detecting a user interaction with the value modification interface mechanism that changes the value of the control parameter from the first value to the second value;

controlling the work machine actuator based on the second value of the control parameter;

modifying the near real-time display to show: a completed control area corresponding to a portion of the current control area that has been operated on by the mobile work machine and that corresponds to the first value of the control parameter; and an incomplete current control area corresponding to a portion of the current control area that has not been processed by the mobile work machine and that corresponds to the second value of the control parameter.

Technical Field

The present description relates to controlling a work machine. More specifically, the present description relates to controlling subsystems of a work machine differently in different geographic regions based on modifications to parameter settings of the control regions in the different geographic regions.

Background

There are a wide variety of different types of mobile work machines. They include machines such as construction machines, turf management machines, forestry machines, agricultural machines, etc. In some current systems, a priori data is collected and used to generate a prediction map that predicts, for a particular worksite, one or more different variables that may be relevant to controlling a work machine. The map maps variables to different geographic locations on the worksite. These maps are then used in an attempt to control the machine as it travels around the worksite to perform operations.

One particular example is controlling an agricultural harvester. Some current systems attempt to collect a priori data (e.g., aerial images) and generate a predictive field map from the prior data. The predicted field map maps predicted field values in a field being harvested to geographic locations in the field. As the work machine travels through a field being harvested, the system attempts to control the work machine based on the predicted field map.

The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter.

Disclosure of Invention

Control areas are identified on the thematic map, and work machine actuator settings are identified for each control area. The position of the work machine is sensed and actuators on the work machine are controlled based on the control zone in which the work machine is located and based on the actuator settings corresponding to the control zone. When the modification criteria are satisfied, the actuator settings in the control region may be modified during operation. The control area is then divided on a near real time display into a harvested portion of the control area and a new control area that has not been harvested and has the modified actuator settings. Then, a record is generated and stored for the harvested control area and for the new control area.

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that solve any or all disadvantages noted in the background.

Drawings

Fig. 1 is a partial pictorial, partial block diagram of a mobile work machine in an example in which the mobile work machine is a combine harvester.

Fig. 2 is a block diagram illustrating one example of the mobile work machine illustrated in fig. 1, with portions illustrated in greater detail.

Fig. 3 shows an example of parameter recording.

Fig. 4A and 4B show block diagrams of examples of display generators and modification control systems, logic, in more detail.

Fig. 5A-5C (collectively referred to herein as fig. 5) show a flow chart illustrating one example of operation of a work machine in detecting a modification to a parameter setting and controlling the machine based on the modified parameter setting.

Fig. 6, 7, 8, 9A, and 9B are pictorial illustrations of examples of user interface displays.

Fig. 10 is a block diagram illustrating one example of a work machine disposed in a remote server architecture.

Fig. 11-13 illustrate examples of mobile devices that may be used with the work machines or architectures of the previous figures.

FIG. 14 is a block diagram illustrating one example of a computing environment that may be used in the work machine or architecture shown in the previous figures.

Detailed Description

As discussed above, some current systems have attempted to use thematic maps (e.g., field maps) created from a priori data (e.g., aerial image data or historical data) in order to control a work machine (e.g., a harvester). Other systems divide a control model (e.g., a thematic map) into control regions by clustering variable values represented on the thematic map. Each control area has a set of settings for controllable subsystems or work machine actuators such that when a work machine enters a particular control area, the controllable subsystems (or work machine actuators) are controlled based on the corresponding settings in that control area.

However, when the machine is operating (e.g., when the harvester is harvesting), conditions may change such that the predetermined setting of the control area in which the harvester is operating may not be as ideal as a different setting. In that case, the operator may change the settings for one or more work machine actuators, or an automated system may modify the settings automatically. The present system continues with the description in which the machine detects such a modification and modifies the field map by dividing the current control area into two separate control areas (one representing an area that has been harvested using the old settings and the other representing an area that has not been harvested with the new settings). The system generates parameter records for both the control area corresponding to the post-harvest area and the new control area corresponding to the non-harvest area. In one example, the system may also identify other similar control regions in the field and prompt the operator to determine whether the operator wishes to modify the settings in the similar control regions in a similar manner as in the current control region. These and other examples are discussed herein.

It will also be noted that the present description may continue with respect to many different mobile work machines (also referred to as work machines, machines or vehicles). Such machines may include planters (where the machine parameters include planting depth, seed population, row unit downforce, etc.), sprayers (where the machine parameters include application rate), tillage equipment (where the machine parameters include ground engaging element depth), construction compactors (where the machine parameters include degree of impact), lawnmowers (where the machine parameter is cutting height), and a wide variety of other mobile work machines. However, the present description continues with respect to a work machine that is a combine harvester. However, it will be appreciated that the present description may be equally readily applied to other work machines (or other construction, forestry, agricultural, and turf management work machines not listed).

Fig. 1 is a partially pictorial partially schematic illustration of an agricultural machine 100 in an example in which the machine 100 is a combine (or combine machine). As can be seen in fig. 1, combine 100 illustratively includes an operator compartment 101, and operator compartment 101 may have various different operator interface mechanisms for controlling combine 100, including a display mechanism 103, as will be discussed in greater detail below. Combine 100 may include a set of front end equipment, which may include a header 102 and cutters, generally indicated at 104. It may also include a feeding chamber 106, a feed accelerator 108 and a threshing machine generally indicated at 110. The thresher 110 illustratively includes a threshing rotor 112 and a set of recesses 114. Further, the combine harvester 100 may comprise a separator 116, the separator 116 comprising a separator rotor. Combine 100 may include a cleaning subsystem (or cleaning apparatus) 118, which may itself include a cleaning fan 120, a screening machine (chaffer)122, and a screen (sieve) 124. The material handling subsystems in the combine 100 may include (in addition to the feeding chamber 106 and the feeding accelerator 108) a discharge agitator 126, a tailings elevator 128, a clean grain elevator 130 (which moves clean grain into a clean grain bin 132), and a discharge screw conveyor 134 and a discharge outlet 136. Combine 100 may further include a residue subsystem 138, which residue subsystem 138 may include a shredder 140 and a spreader 142. Combine 100 may also have a propulsion subsystem that includes an engine (or other power source) that drives ground engaging wheels 144, tracks, or the like. It will be noted that the combine harvester 100 may also have more than one of any of the subsystems mentioned above (e.g., left and right cleaning plants, separators, etc.).

In operation, and in a general manner, combine 100 is illustratively moved across a field in the direction indicated by arrow 146. As it moves, header 102 engages the crop to be harvested and focuses it toward cutters 104. After it is cut, it moves through a conveyor in the feeding chamber 106 towards the feed accelerator 108, which feed accelerator 108 accelerates the crop into the thresher 110. The crop is threshed by the rotor 112 rotating the crop against the recess 114. The threshed crop is moved by the separator rotor in the separator 116 with some of the residue being moved by the discharge agitator 126 toward the residue subsystem 138. It may be shredded by residue shredder 140 and spread over the field by spreader 142. In other embodiments, the residue is simply dropped into the windrow, rather than being shredded and spread.

The grain falls to a cleaning plant (or cleaning subsystem) 118. The sifter 122 separates some of the larger material from the grain and the sifter 124 separates some of the finer material from the clean grain. The clean grain falls to a screw conveyor in a clean grain elevator 130, which moves the clean grain upward and deposits it in a clean grain bin 132. The residue may be removed from the cleaning plant 118 by an airflow generated by the cleaning fan 120. The residue may also move back in the combine 100 toward the residue handling subsystem 138.

The tailings can be moved by the tailings elevator 128 back to the thresher 110 where they can be re-threshed. Alternatively, the tailings may also be conveyed to a separate re-threshing mechanism (also using a tailings elevator or other transport mechanism) where they may also be re-threshed.

Also shown in FIG. 1, in one example, combine harvester 100 may include a ground speed sensor 147, one or more separator loss sensors 148, a grain cleaning camera 150, and one or more cleaning plant loss sensors 152 and a position sensor 157. The ground speed sensor 147 illustratively senses the speed of travel of the combine 100 over the ground. This may be accomplished by sensing the rotational speed of the wheel, drive shaft, axle or other component. The travel speed and position of the combine 100 may also be sensed by a positioning system 157 (e.g., a Global Positioning System (GPS), a dead reckoning system, a LORAN (LORAN) system, cellular triangulation, or a variety of other systems or sensors that provide an indication of travel speed and/or position).

The cleaning plant loss sensors 152 illustratively provide output signals indicative of the amount of grain loss to the right and left of the cleaning plant 118. In one example, the sensor 152 is an impact sensor (or shock sensor) that counts impacts of grain per unit of time (or per unit of distance traveled) to provide an indication of grain loss from the cleaning plant. The impact sensors for the right and left sides of the cleaning plant may provide separate signals or combined or integrated signals. It will be noted that the sensor 152 may also comprise only a single sensor, rather than a separate sensor for each cleaning plant.

The separator loss sensor 148 provides a signal indicative of the loss of grain in the left and right separators. Sensors associated with the left and right separators may provide individual grain loss signals or a combined or integrated signal. This can also be achieved using a wide variety of different types of sensors. It will be noted that the separator loss sensor 148 may also include only a single sensor, rather than separate left and right sensors.

It will also be appreciated that the sensors and measurement mechanisms (in addition to the sensors already described) may also include other sensors on the combine harvester 100. For example, they may include a residue setting sensor configured to sense whether the machine 100 is configured to shred residue, drop a pile, or the like. They may include a cleaning plant fan speed sensor that may be disposed near the fan 120 to sense the speed of the fan. They may include a threshing gap sensor that senses the gap between the rotor 112 and the recess 114. They comprise a threshing rotor speed sensor which detects the rotor speed of the rotor 112. They may include a sizer gap sensor that detects the size of the opening in the sizer 122. They may include a screen gap sensor that detects the size of the openings in the screen 124. They may include a moisture sensor of a material other than grain (MOG) that may be configured to sense a moisture level of the material other than grain passing through the combine 100. They may include machine setting sensors configured to sense various configurable settings on the combine 100. They may also include a machine orientation sensor, which may be any of a wide variety of different types of sensors that sense the orientation or pose of the combine 100. Crop attribute sensors may detect various different types of crop attributes, such as crop type, crop moisture, and other crop attributes. They may also be configured to sense characteristics of the crop as it is processed by the combine 100. For example, as the grain travels through clean grain elevator 130, they may sense the grain feed rate. They may sense the output as a mass flow rate of the grain through the elevator 130 that is related to the location from which the grain has been harvested (as indicated by the position sensor 157), or provide other output signals indicative of other sensed variables. Some additional examples of types of sensors that may be used are described below.

Fig. 2 is a block diagram illustrating some parts of the combine harvester (work machine) 100 illustrated in fig. 1 in more detail. Fig. 2 illustrates that the machine 100 may be connected to other machines 224 and remote systems 226 via a network 228. Thus, the network 228 may be a wide area network, a local area network, a near field communication network, a cellular communication network, or any of a wide variety of other networks or combinations of networks. The other machines may be other harvesters in the same field or in different fields where the work machine 100 is harvesting. The remote system 226 may include a farm manager system, a remote controller system, a supplier system, and the like.

Fig. 2 also shows that work machine 100 may include one or more processors 180, a communication system 182, and sensors 184 (which may be the same or different sensors as described above with respect to fig. 1).

Work machine 100 also includes a control system 186, data storage 188, one or more controllable subsystems 190, an operator interface mechanism 194 (which may include display mechanism 103 and other items 196 shown in fig. 1). Work machine 100 may also include a variety of other items, and this is indicated by block 198. Control system 186 illustratively includes a machine position identifier 200, a data storage interaction component 202, a current control region identification system 204, a Work Machine Actuator (WMA) control parameter identification system 206, a control signal generator 208, a display generator 254, a modification control system 192, itself, and may include other items 210.

The data store 188 illustratively includes a map 211 that divides the field in which the machine 100 is operating into control areas, a plurality of different parameter records 212-214, and it may include other items 216. Controllable subsystem 190 may include a number of different work machine actuators 218 through 220, and it may include other items 222. Work machine actuators 218-220 may include actuators or other actuators to drive any of the functionality described above with respect to fig. 1. Work machine actuators also include mechanisms and/or logic used to set calibration parameters (e.g., parameters used to perform sensor calibration, etc.). Before describing the overall operation of the machine 100, a brief description of some of the items in the machine 100 and their operation will first be provided.

Communication system 182 enables communication between items on work machine 100 over network 228. Thus, the communication system 182 may vary based on the type of communication it is enabling.

In control system 186, machine position identifier 200 receives the position of machine 100 from positioning system 157. For example, it may receive coordinates in a local or global coordinate system. It then identifies the position and orientation of the machine 100 in the particular field it is harvesting. The data store interaction component 202 interacts with the data store 188 to obtain a map 211 with control regions (if it has not already been retrieved) and to identify the location of the machine 100 relative to the control regions in the map 211. The control area identification system 204 identifies the current control area in which the machine 100 is operating and the data storage interaction component 202 obtains a parameter record 212 through 214 for that particular control area. The WMA control parameter identification system 206 extracts the values (or parameters) of the WMA settings from the parameter record and provides those values to the control signal generator 208. The control signal generator 208 generates control signals based on specific WMA parameters (or WMA settings) identified for the current control region in which the machine 100 is operating and applies them to the WMAs 218 through 220 in the controllable subsystem 190. Thus, as work machine 100 travels through a field, control system 186 controls controllable subsystem 198 based on parameters (or WMA settings) corresponding to the control regions in map 211.

In one example, different control regions may correspond to regions in which different settings will be most effective. In this case, the control system 186 identifies which control zone the machine 100 is in and what settings are to be used. The control signal generator 208 then generates control signals to control the controllable subsystem 190 using those settings. As machine 100 traverses from one control area to another, parameters or settings corresponding to the new control area of WMA are obtained and the work machine actuators are controlled based on the new parameters or settings.

Display generator 254 may generate output on operator interface mechanism 194 and detect operator input or interaction with the operator interface mechanism. The operator interface mechanism may include a display mechanism 103, the display mechanism 103 may be a touch sensitive display or a display that the operator 230 may interact with a pointing device, etc. The mechanism 194 may include a variety of other mechanisms, such as a microphone and speaker where speech recognition and speech synthesis are used. The mechanism 194 may include a foot pedal, joystick, steering wheel, lever, linkage, button, switch, or the like.

As described in more detail below with respect to fig. 4, display generator 254 may generate a representation of a near real-time display showing the field in which work machine 100 is operating and the position and orientation of work machine 100. The near real-time display may also map the control area to a field display. It may provide an indication that is displayed on the display mechanism 103. The display map also shows various parameter settings currently in use in the current control area. Some examples of near real-time map display are discussed in more detail below with respect to fig. 6-9.

It may be that the operator 230 wishes to change one of the parameters or settings, or that such a change is automatically triggered. The operator 230 may illustratively initiate the change by interacting with the display mechanism 103 to modify the desired value. In this case, display generator 254 detects the interaction and provides the modified value to control system 186, where WMA control parameter identification system 206 may provide this information to control signal generator 208, and control signal generator 208 generates a control signal based on the modified parameter or set value. In examples where the change is automatically triggered, the modification control system 192 may detect the change, identify the modified value, and provide it to the control system 186 so that control is performed based on the modified value. Additionally, the modification control system 192 may interact with the data store 188 to modify the map 211 such that it now shows the current control area divided into two areas. One area is a harvested area with old settings and another area is an un-harvested area with new settings. Logic 192 may also generate parameter records 212 through 214 for the new parameter values (or set values). In one example, the display generator 254 may update the near real-time display based on the modification. This is described in more detail below.

In the example shown in fig. 3, parameter record 212 includes a work machine actuator identifier 232 that identifies the particular work machine actuator 218 through 220 for which record 212 is intended. It may identify one or more control areas 234 in the map 211 that correspond to the particular parameter record. It may identify the parameter values (or set values) 236 for the corresponding work machine actuators 232 in that particular control area. It also identifies similarity criteria 238 and modification criteria 240. The similarity criteria 238 are evaluated by the modification control system 192 in identifying other similar control areas on the map 211. Modification criteria 240 may be used to determine whether parameter values 236 should be automatically modified.

For example, there may be a performance metric with a threshold. If the performance of machine 100 (or a component of machine 100) falls below a threshold, this may satisfy modification criteria 240 for automatically modifying parameter values or set values 236 for the work machine actuators identified by work machine actuator ID 232.

Parameter record 212 also illustratively includes calibration parameters 242, scaling factors 244, and thresholds 246. The calibration parameters 242 identify parameters that are set during calibration of the machine 100 or one or more different components of the machine 100. The calibration parameters 242 may also identify parameters that, when present, indicate that a field calibration process is to be performed. The scaling factor 244 may identify a scaling factor to be used in determining a particular modification to be made. For example, assume that the modification criteria 240 indicate that the predicted biomass for the control region in the map 211 differs by up to 10% from the estimated value. In this case, the scaling factor 244 may indicate that the parameter value (or set value) 236 is to be increased or decreased by up to 10%. The scaling factor 244 may also include other items.

A threshold 246 may be set for the similarity criteria 238, the modification criteria 240, or other items. For example, if the modification criteria 240 have been exceeded by a threshold amount indicated by the threshold 246, this may indicate that some modification is to be made to the parameter value 236.

Parameter record 212 also includes current selection 248 and alternate selection 250. It may also include other items 252. The current selection may be an operator selection made when setting the initial parameter values 236. For example, the operator selection 248 may indicate a desired crop moisture level. However, parameter records 212 may also include alternatives 250. The operator may select an alternative option to indicate a different humidity level, in which case other values (or at least parameter value 236) in record 212 may change.

Fig. 4A and 4B are block diagrams illustrating one example of the display generator 254 and the modification control system 192, respectively, in greater detail. The system 192 may include a parameter modification value identifier 258, a similar zone processing system 260, a modification trigger detection system 262, a current zone modification processing system 264, and it may include other items 266. The display generator 254 itself may include a control region display component 268, a machine display component 270, a completed/not completed display component 272, a parameter value display component 274, a UI (user interface) actuator display component 276, an operator interaction detector 256, and it may include other items 178.

The modification trigger detection system 262 may include an operator activation detector 280, an auto-trigger detector 282 (which may itself include a criteria extraction component 284, an evaluation component 286, and other items 288), and other components or items 290. The similar regions processing system 260 may include a similar control region identification system 292 (which may include a criteria identifier 294, a criteria evaluation component 296, and other items 298), an automatic modification component 299, a similar region cue generator component 300, a similar region record modification component 302, and it may include other items 304. The current zone modification processing system 264 may include a zone partitioning component 306, a completed control zone record generator 308, a not completed control zone record generator 310, a zone boundary modification component 312, and it may include other items 314. Before describing the overall operation of the display generator 254 and modification control system 192 in more detail, a brief description of some of the items and their operation will first be provided.

Display generator 254 graphically generates a near real-time map display on display mechanism 103. The map display shows the field or a portion of the field in which the machine 100 is working, various control areas in the field, the location of the machine within the field in the control areas, and the like. Thus, the control region display section 268 obtains the positions of the control regions 211 and displays them on the display mechanism 103. The machine display component 270 identifies the location and orientation of the machine 100 within the displayed map of the field and displays the machine in its correct orientation and at the correct location on the map. The completed/unfinished display member 272 identifies areas that have been harvested relative to areas that have not been harvested. It generates a display that provides a visual indicia showing the discrepancy. The parameter value display component 274 illustratively displays the value of a parameter (or setting) at the current location of the machine 100. For example, it may identify a setting or parameter value for the current control area (the control area in which the machine 100 is operating) and display the setting or parameter value on the display mechanism 103. UI mechanism display component 276 illustratively displays actuatable user interface mechanisms so that operator 230 can interact with the display.

Operator interaction detector 256 may detect operator interaction with the display. It may generate signals indicative of those interactions and pass them to display generator 254, modify other items in control system 192 or control system 186, or other items in machine 100.

By way of example, the operator 230 may want to select a control region. The operator may tap on a control area on the map (or select it using another touch gesture) and may display various parameter values for that control area (for controlling various work machine actuators). It may also be that different work machine actuators have control regions that are not fully aligned with control regions corresponding to other actuators. In this case, operator 230 may be able to use the interface mechanism to scroll among the various work machine actuators such that the near real-time map displays the control area of the currently selected work machine actuator. In addition, there may be an interface mechanism that allows the operator 230 to change the current setting. The operator 230 may be able to interact with such mechanisms in order to increase a setting value, decrease a setting value, change it to a separate value, and so forth. Other UI actuators may also be displayed.

As discussed above, the parameter settings may be to be changed for the current control region. Modification trigger detection system 262 detects when a modification has been initiated. The operator initiated detector 280 detects operator initiated modifications. This may be accomplished by detecting that the operator 230 is interacting with an actuatable UI mechanism on the display to change a parameter or WMA setting.

Auto-trigger detector 282 may detect when modifications are automatically initiated. By way of example, automatically means that no further human interaction is required to perform the operation other than to initiate or authorize it.

For example, the criteria extraction component 284 may extract the modification criteria 240 from the parameter records 212. The modification criteria 240 may be any of a variety of different types of criteria. For example, it may be a performance metric (e.g., fuel efficiency, etc.). The evaluation component 286 evaluates whether the modification criteria are met. For example, if fuel efficiency drops below a desired level by a threshold amount, this may trigger an automatic modification to the propulsion system to speed up or slow down the machine 100.

The parameter modified value identifier 258 identifies a modified value. For example, if the operator 230 is interacting with a UI mechanism to increase or decrease a value of a parameter, the value is identified based on the operator's input. However, in another scenario, value modification may be automatically triggered and the modified value identified using the scaling factor 244 or threshold 246 or alternative 250 in the parameter record 212. Based on the modified start and parameter records, the parameter modification value identifier 258 then identifies a modified value for the parameter value. These items are described in more detail below.

Current zone modification processing system 264 then processes the modifications to the current control zone to create new control zones and parameter records for the modified parameter values. The zone dividing component 306 divides the current control zone in which the machine 100 is operating into two zones. The first has a boundary that borders the location of the machine 100 in the field. Which is the control area corresponding to the harvested portion of the current control area as of the time of the modification. This already harvested control area has the old parameter settings before modification. The second region corresponds to an uncurved portion of the field that will be harvested by controlling the machine 100 using the new settings or parameter values. The boundary between the control area that has been harvested and the control area that has not been harvested corresponds to the position of the machine 100 when the parameters or settings are modified.

The completed control area record generator 308 generates a control area record in the map 211 that corresponds to the area that has been harvested. The control area records include machine settings and parameter values used when harvesting occurs. Incomplete control area record generator 310 generates a record in map 211 for the unspooled portion of the current control area and it uses settings or parameter values that reflect the modification. Record generators 308 and 310 may also generate separate parameter records for two different parameter values. The area boundary modification component 312 identifies the boundary between two areas and modifies the boundary accordingly so that it can be accurately displayed using the map 211.

The similar area processing system 260 identifies similar control areas on the map 211 that are similar to the current control area to determine whether those similar control areas should also be modified. The modification of similar control regions may be made in different ways. For example, they may be performed automatically without notifying the operator 230. They may be done automatically while notifying the operator 230. They may be suggested by the operator 230 and authorization provided, or they may be suggested and the operator 230 may be allowed to manually modify (if needed). To identify similar control regions, the criteria identifier 294 identifies the similarity criteria 238 to determine which criteria will be used to identify similar control regions. They may be regions having parameter values 236 within a threshold amount of the parameter values of the current control region. They may be crop parameters or soil parameters. They may be defined by rules or other logic, etc. The criteria evaluation component 296 evaluates similarity criteria for other regions in the field to identify whether any of them are sufficiently similar that modifications to those control regions may also be made.

The automatic modification component 299 automatically makes those modifications, wherein the machine is configured to automatically make modifications to similar control regions. The similar area record modification component 302 then modifies the parameter records and other records in the map 211 to reflect the modifications. When used for modification, the similar area prompt generator component 300 prompts the operator for interaction. For example, when an operator authorizes a modification before automatically making the modification, a prompt and user input mechanism is provided so that the operator can authorize the modification or cancel the modification. When an operator is to perform a manual modification, a UI mechanism may then be displayed that allows the operator to manually modify parameter values in similar control regions. Likewise, the similar area record modification component 302 modifies the control area and its parameter records on the map 211 to reflect the modification.

Fig. 5A-5C (collectively referred to herein as fig. 5) illustrate a flow chart showing one example of operation of work machine 100 in controlling work machine actuators based on control zones and handling modifications to those control zones. The machine 100 first receives or generates a map 211 of a Work Machine Actuator (WMA) control area and parameter records 212 through 214 having control parameter values. This is indicated by block 316 in fig. 5. As discussed above, there may be a number of different maps based on the number of different WMAs to be controlled. This is indicated by block 318. As indicated by block 320, the map may be based on a priori data or live data (site data), or both. The map may also be generated or received in other ways, and this is indicated by block 322.

Control region display component 268 then identifies the Work Machine Actuator (WMA) control regions in the field based on the map. This is indicated by block 324. The machine location identifier 200 receives the location signals from the positioning system 157 and identifies the location of the machine 100 within the field and on the map 211. The current zone identification system 204 then identifies the current control zone in which the machine 100 is operating. Detecting a work machine position/route/speed is indicated by block 320. It may identify position/orientation and heading or route using positioning system 157 and/or using speed sensor 147 or in other ways 322. By detecting work machine position and orientation, current control area identification system 204 may access map 211 to identify the current control area in which the machine is operating. This is also indicated by block 320.

The WMA control parameter identification system 206 then identifies the control setting or value of the parameter for the control zone for the corresponding WMA. It controls the WMA based on the identified control setting (parameter) values. This is indicated by block 324.

If the control region is to be displayed, as indicated by block 325, the display generator 254 generates a near real-time display on the display mechanism 103. This is indicated by block 326. The machine display component 270 graphically displays the machines in the field at the detected positions and orientations on the display mechanism 103. This is indicated by block 328. The control area display component 268 graphically displays visual indicia depicting the control area on the display. This is indicated by block 330. Parameter value display component 274 illustratively generates a display indicative of one or more parameters or settings of various WMAs. This is indicated by block 332. The completed/unfinished display component 272 generates a display depicting the harvested portion of the map relative to the non-harvested portion. This is indicated by block 334. UI mechanism display component 276 generates a display of UI mechanisms with which operator 230 may interact. This is indicated by block 336. The near real-time display may be generated in other ways, as well as with other elements, and this is indicated by block 338.

At some point, it may be desirable to modify the parameter values or settings of the control area. In this case, for operator-initiated modification, the operator interaction detector 256 detects operator interaction or selection with the control region to be modified. The operator initiated detector 280 detects that the operator has initiated a modification. This may be the detection by the operator interaction detector 256 of the operator 230 touching or otherwise interacting with a control area on the display mechanism 103.

Auto-trigger detector 282 may detect that a setting or parameter value change has been automatically initiated. It may do this by having the criteria extraction component extract modification trigger criteria and the evaluation component 286 evaluates them. Detecting selection of a current control region for parameter modification is indicated by block 340. Detecting initiation of modification of the parameters is indicated by block 340. Detection of it is indicated by block 342, either based on user input or automatically. It is possible to modify the settings or parameter values of a single WMA. This is indicated by block 344. It may also be that parameters or settings of multiple WMAs are to be modified. This is indicated by block 346. Initiation of modification of the parameters or settings may also be detected in other ways, and this is indicated by block 348.

The parameter modification value identifier 258 then accesses the parameter record corresponding to the current control region. This is indicated by block 350. It may do this by interacting with the data store 188 using the correct security measures, as indicated by block 352, or otherwise, as indicated by block 354. If the parameter is to be displayed and modified by the operator, the parameter value display section 274 displays the parameter value of WMA for the current control region. This is indicated by block 378 in the flowchart of fig. 5. The operator interaction detector 256 then detects the operator's interaction with the modification UI mechanism to modify the parameter values or setting values. It is modified from a current value to a different value (or from a first value to a second value). This is indicated by block 380 in the flow chart of fig. 5. Likewise, the values may be modified automatically, as indicated by block 382, or manually by the parameter modification value identifier 258, as indicated by block 384, or otherwise (e.g., automatically but only after operator authorization, etc.). This is indicated by block 386.

Once the modified value is entered (whether manually or automatically), the parameter modification value identifier 258 provides the modified value to the WMA control parameter identification system 206, and the WMA control parameter identification system 206 provides an output to the control signal generator 208 such that the control signal generator 208 generates a control signal for the corresponding WMA based on the modified parameter or setting. Controlling the corresponding WMA based on the modified parameter value is indicated by block 388 in the flow chart of fig. 5. As indicated by block 390, the control signal modifies the position or operation of at least one WMA. Controlling the corresponding WMA may also be accomplished in other ways, and this is indicated by block 392.

The current region modification processing system 264 then processes the modifications to ensure that the near real-time display shown on the display mechanism 103 (if the region is displayed) and the map and parameter records in the data store 188 are accurate. Thus, the zone division component 306 divides the current zone into a harvested (or completed) control zone and an unharvested (or unfinished) control zone. This is indicated by block 394 in the flow chart of fig. 5. The zone boundary modification component 312 modifies the geographic boundaries between zones and (if zones are displayed) this information is provided to the control zone display component 268, the control zone display component 268 now displaying the operation of the machine 100 in near real time, visually depicting the completed control zones in terms of incomplete control zones. This is indicated by block 396.

The completed control area record generator 308 generates a separate record for the completed control area so that it is accurately represented on the map 211. It also illustratively generates a separate parameter record for the completed control area, which includes the old (before modification) parameters or settings. Incomplete control area record generator 310 modifies map 211 so that it shows incomplete control areas, and it also generates incomplete parameter records for incomplete control areas. The incomplete parameter record will include modified values of the parameter. Modifying the map and generating a separate parameter record are indicated by block 398 in the flow chart of FIG. 5. The record generators 308 and 310 then store the modified parameter records for the completed control regions and the incomplete control regions in the data store 188. This is indicated by block 400.

The similar regions processing system 260 then identifies any similar regions in the field in which the machine 100 is harvesting to determine whether the modifications reflected in the parameter records should also be made in those similar control regions. Identifying incomplete control regions that are similar to the incomplete current control region is indicated by block 402. Similarities may be identified in a number of different ways. For example, there may be a rule or other similarity criteria 238 in the parameter record that defines whether another region is similar to the current region. The criteria identifier 294 identifies similarity criteria and the criteria evaluation component 296 evaluates them to determine whether any other control regions are similar. This is indicated by block 404.

For example, where another control region has a similarity criterion within a threshold amount of the same criterion in the current control region, then the regions may be identified as similar. This is indicated by block 406. The similarity criterion may be based on a control parameter value or a set value. This is indicated by block 408. Similarity may be determined based on crop attributes (e.g., crop moisture) or soil parameters (e.g., soil moisture or texture). Evaluating similarity based on crop parameters is indicated by block 410 and evaluating similarity based on soil parameters is indicated by block 412. Of course, similarity may be determined in a variety of other ways as well, and this is indicated by block 414.

If the modifications to the similar control areas are not operator-engaged and they are to be automatically modified, the automatic modification component 299 automatically modifies the parameters or settings of the similar control areas. This is indicated by blocks 416 and 418 in fig. 5. However, if the operator 230 is to participate in the modification, the similar region prompt generator component 300 generates a visual indicia on the display mechanism 103 showing similar control regions. This is indicated by block 420. Visual markers are used to prompt the operator to indicate whether parameter values in similar control areas should also be modified. The prompt may show other information, for example, a confidence value indicating how similar and should be modified confidence for the two regions of the system. It may also show other information. Prompting the operator is indicated by block 422. Showing confidence values or other information is indicated by blocks 424 and 426, respectively.

The operator interaction detector 256 then detects the operator's response to the prompt. This is indicated by block 428. The parameter records corresponding to similar control areas are then processed based on the operator response. This is indicated by block 430. For example, if a similar region has a completed (harvested) portion and an unfinished (unharvested) portion, it is divided into two regions, as described above. This is indicated by block 431. The similar area record modifying section 302 may modify a parameter or a setting value in the parameter record corresponding to the similar control area. This is indicated by block 432. When it is determined that no modifications are to be made, then the parameter record remains unchanged, as indicated by block 434. The parameter record may also be processed in other ways, and this is indicated by block 436.

Fig. 6-9B illustrate examples of operator interface displays that may be generated on the display mechanism 103 and that show how the set values or parameter values may be modified by the operator. It will be noted that the operator may be an on-site operator, a remote operator, a farm manager at a remote site, or the like. Fig. 6 illustrates an example in which the operator interface display 438 shows a field 440 in which the machine 100 is operating. As can be seen, the field 440 is divided into a plurality of distinct control regions 442, 444, 446 and 448. Each of the control areas is represented in the map 211 and has its own corresponding parameter record. The parameter records show parameter values that are used to control various WMAs on the machine 100. In one example, the current parameter value is also displayed, such as illustrated at 450 in display 438. The display shows that WMA1 has parameter values for XXX, while WMA2 has parameter values for YYY. In another example, a scroll mechanism 452 is provided that allows the operator to scroll parameter values for other WMAs on the machine 100. In an example where each WMA has its own separate control area, then the control area shown on map 440 is the control area for the selected WMA. In the example illustrated in fig. 6, WMA1 is shown as the selected WMA, such that control regions 442 through 448 are control regions corresponding to parameter values of WMA 1.

Fig. 7 is similar to fig. 6 and like items are numbered similarly. Now, however, assume that the operator has indicated that a modification is to be made. In one example, where the display mechanism is a touch sensitive display mechanism, the operator may touch the current control region to change the parameter or setting corresponding to that region. In the example shown in fig. 7, it is assumed that the operator has touched the control area 442 and has selected the WMA1 parameter value for modification. Fig. 7 shows that the parameter values corresponding to WMA1 are now shown in editable form. It may be displayed in a text box 454 that may be edited by the operator 230. For example, when the operator touches the text box 454, the operator may be shown another mechanism (e.g., a keypad, a numeric selector, or a scroll wheel) that may be used to set a new value for the parameter value. In another example, the modification actuator 456 may be actuated to increase or decrease the parameter value. In addition, a preservation actuator 458 is shown. The operator 230 may actuate the save actuator 458 to save the new parameter value.

Fig. 8 shows a display similar to that shown in fig. 6, and similar items are numbered similarly. However, in figure 8, it is now assumed that the operator has modified the value of the parameter WMA1 to the value of ZZZ. In this case, it can be seen that the area dividing component 306 has now divided the area 442 into two separate areas 460 and 462. Area 460 represents the already harvested area of the old area 442. The completed control area record generator 308 generates a new parameter record or control area record for the control area 460 showing that it was harvested with the parameter value of WMA1 at the value of XXX. The zone dividing component 306 has also generated the unharvested portion of the old zone 442 as a new, unfinished control zone 462. Incomplete control area record generator 310 generates a new record for area 462 showing that it is to be harvested using the parameter value of WMA1 for ZZZ instead of the old value of XXX. For WMA1, zone boundary modifying component 312 has modified the boundaries of the zones of field 440 to include the boundary lines between zones 460 and 462.

FIG. 8 also shows that the similar control area identification system 292 has identified the area 448 as similar to the area 462. Thus, similar region prompt generator component 300 has generated similar region modification prompt 464. Prompt 464 graphically displays a similarity indicator 466, which shows operator 230 that the two regions have been identified as similar and some measure of that similarity. Suggested prompt 464 also illustratively suggests new parameter values for the control parameters used for WMA1 in field 448. The suggested new parameter values are indicated by block 468. Additionally, the prompt 464 may display other information, such as a confidence level 470 showing how confident the system should make modifications in the area 448. It may include a variety of other information 472. The prompt may also indicate a set of yes/no actuators 474, which yes/no actuators 474 may be actuated by the operator 230 to modify the value of the parameter in field 448 from its old value to a new value ZZZ or to cancel the prompt.

Fig. 9A is similar to fig. 8, and similar items are numbered similarly. However, FIG. 9A shows that the area boundary modification component 312 has now modified the boundary line 476 to show that the two areas 460 and 462 have been modified within the map 211.

Fig. 9B shows an example in which the region 444 (shown in fig. 9A) is a similar region. In the example shown, the region 444 has a completed (harvested) region and an unfinished (unharvested) region. The completed region is converted to a completed region 445 having the old parameter values and the incomplete region is converted to an incomplete region 447 having the new parameter values.

Thus, while the present description shows that once the control regions and parameter values are provided on the map, those parameter values in different control regions may be used to control the machine 100, they may be readily modified to accommodate different conditions. The modification may result in the near real-time display being modified to show the new area, and the base map and parameter records being modified to reflect the new area and the new parameter values. In addition, the specification describes identifying other similar control regions and suggesting modifications to their parameter values. The machine is then controlled based on the modified parameter values.

The discussion has referred to processors and servers. In one example, the processor and server include a computer processor with associated memory and timing circuitry, not separately shown. They are functional components of the systems or devices to which they pertain and are activated by, and facilitate the functionality of, other components or items in those systems.

In addition, many user interface displays have been discussed. They may take a wide variety of different forms and may have a wide variety of different user-actuatable input mechanisms disposed thereon. For example, the user actuatable input mechanism may be a text box, check box, icon, link, drop down menu, search box, or the like. They may also be actuated in a variety of different ways. For example, they may be actuated using a pointing device (e.g., a trackball or mouse). They may be actuated using hardware buttons, switches, joysticks or keyboards, thumb switches or thumb pads, etc. They may also be actuated using a virtual keyboard or other virtual actuators. Additionally, where the screen on which they are displayed is a touch sensitive screen, they may be actuated using touch gestures. Furthermore, where the devices displaying them have voice recognition components, they may be actuated using voice commands.

Many data stores have also been discussed. It will be noted that they may each be divided into a plurality of data stores. All of which may be local to the system accessing them, all of which may be remote, or some may be local and others remote. All of these configurations are contemplated herein.

Further, a number of blocks in which functionality is attributed to each block are shown. It should be noted that fewer blocks may be used and thus the functionality is performed by fewer components. Further, where functionality is distributed among more components, more blocks may be used.

Fig. 10 is a block diagram of the harvester 100 shown in fig. 1, except that it communicates with elements in a remote server architecture 500. In an example, the remote server architecture 500 may provide computing, software, data access, and storage services that do not require the end user to know the physical location or configuration of the system delivering the service. In various examples, the remote server may deliver the service over a wide area network (e.g., the internet) using an appropriate protocol. For example, the remote servers may deliver applications over a wide area network, and they may be accessed through a web browser or any other computing component. The software or components and corresponding data shown in the previous figures may be stored on a server at a remote location. The computing resources in the remote server environment may be integrated at a remote data center location, or they may be distributed. The remote server infrastructure may deliver services through a shared data center even though they appear to the user as a single access point. Thus, the components and functions described herein may be provided from a remote server at a remote location using a remote server architecture. Alternatively, they may be provided from a conventional server, or they may be installed directly or otherwise on the client device.

In the example shown in fig. 10, some items are similar to those shown in previous figures, and they are numbered similarly. Fig. 10 specifically shows that similar regional processing system 260, remote system(s) 266, and other items 504 from previous figures may be located at remote server location 502. Thus, the harvester 100 accesses those systems through the remote server location 502.

FIG. 10 also depicts another example of a remote server architecture. Fig. 5 illustrates that it is also contemplated that some elements of the previous figures are disposed at remote server location 502 while other elements are not disposed at remote server location 502. By way of example, the data store 188 or similar area processing system 260 may be provided at a location separate from the location 502 and be accessed by a remote server at the location 502. Wherever they are located, they may be directly accessible by harvester 100 through a network (either a wide area network or a local area network), they may be hosted at a remote site through a service, or they may be provided as a service, or accessed by a connected service residing in a remote location. Further, the data may be stored in substantially any location and intermittently accessed or forwarded to interested parties. For example, a physical carrier may be used instead of or in addition to the electromagnetic wave carrier. In such embodiments, another mobile machine (e.g., a fuel truck) may have an automatic information collection system in the event that cellular coverage is poor or non-existent. The system automatically collects information about the harvester using any type of dedicated wireless connection when the harvester is near a fuel truck for refueling. In the event that the fuel truck arrives at a location where cellular coverage (or other wireless coverage) exists, the collected information may then be forwarded to the primary network. For example, a fuel truck may enter a covered location when traveling to fuel other machines or when at a primary fuel storage location. All of these architectures are contemplated herein. Further, the information may be stored on the harvester until the harvester enters a covered location. The harvester itself can then send the information to the primary network.

It will also be noted that the elements of the previous figures, or portions thereof, may be provided on a variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palmtop computers, cellular phones, smart phones, multimedia players, personal digital assistants, and the like.

FIG. 11 is a simplified block diagram of one illustrative example of a handheld or mobile computing device in which the present system (or portions thereof) may be deployed that may be used as a handheld device 16 for a user or customer. For example, a mobile device may be deployed in an operator compartment of harvester 100 for generating, processing, or displaying an operator interface. Fig. 12-13 are examples of hand-held or mobile devices.

FIG. 11 provides a general block diagram of the components of the client device 16 that may run, interact with, or both some of the components shown in the previous figures. In device 16, a communication link 13 is provided, communication link 13 allowing the handheld device to communicate with other computing devices and, under some embodiments, providing a channel for receiving information automatically (e.g., by scanning). Examples of communication links 13 include allowing communication via one or more communication protocols (e.g., a protocol used to provide wireless services for cellular access to a network, and to provide local wireless connectivity to the network).

In other examples, the application may be received on a removable Secure Digital (SD) card connected to interface 15. The interface 15 and communication link 13 communicate with a processor 17 (which may also include a processor from the previous figures) along a bus 19, the bus 19 also being connected to a memory 21 and input/output (I/O) components 23 as well as a clock 25 and a position system 27.

In one example, I/O component 23 is provided to facilitate input and output operations. I/O components 23 for various examples of device 16 may include input components (e.g., buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors) and output components (e.g., a display device, speakers, and/or a printer port). Other I/O components 23 may also be used.

The clock 25 illustratively includes a real time clock component that outputs a time and date. It may also illustratively provide timing functionality for the processor 17.

The location system 27 illustratively includes components that output the current geographic location of the device 16. This may include, for example, a Global Positioning System (GPS) receiver, LORAN (LORAN) system, dead reckoning system, cellular triangulation system, or other positioning system. It may also include mapping software or navigation software that generates desired maps, navigation routes, and other geographic functions, for example.

Memory 21 stores operating system 29, network settings 31, applications 33, application configuration settings 35, data store 37, communication driver 39, and communication configuration settings 41. The memory 21 may comprise all types of tangible volatile and non-volatile computer readable memory devices. It may also include computer storage media (described below). The memory 21 stores computer readable instructions that, when executed by the processor 17, cause the processor to perform computer implemented steps or functions in accordance with the instructions. The processor 17 may also be activated by other components to facilitate their functionality.

Fig. 12 shows an example in which the device 16 is a tablet computer 600. In fig. 12, computer 600 is shown with a user interface display screen 602. The screen 602 may be a touch screen or a pen-enabled interface that receives input from a pen or stylus. It may also use an on-screen virtual keyboard. Of course, it may also be attached to a keyboard or other user input device by a suitable attachment mechanism (such as, for example, a wireless link or a USB port). The computer 600 may also illustratively receive speech input.

Fig. 13 shows that the device may be a smartphone 71. The smartphone 71 has a touch sensitive display 73 or other user input mechanism 75 that displays icons or tiles. The user may use the mechanism 75 to run applications, place a phone call, perform data transfer operations, and the like. Typically, the smart phone 71 builds on a mobile operating system and provides more advanced computing power and connectivity than a feature phone.

Note that other forms of the device 16 are possible.

FIG. 14 is an example of a computing environment in which elements of the previous figures, or portions thereof (for example), may be deployed. With reference to fig. 14, an exemplary system for implementing some embodiments includes a general purpose computing device in the form of a computer 810 programmed to operate as described above. The components of computer 810 may include, but are not limited to: a processing unit 820 (which may include the processor 108), a system memory 830, and a system bus 821 that couples various system components including the system memory to the processing unit 820. The system bus 821 may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. The memory and programs described with respect to the previous figures may be deployed in corresponding portions of fig. 14.

Computer 810 typically includes a variety of computer readable media. Computer readable media can be any available media that can be accessed by computer 810 and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer readable media may comprise computer storage media and communication media. The computer storage medium is distinct from and does not include a modulated data signal or carrier wave. It includes hardware storage media including volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media include, but are not limited to: computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by computer 810. Communication media may embody computer readable instructions, data structures, program modules, or other data in a transport mechanism and include any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal.

The system memory 830 includes computer storage media in the form of volatile and/or nonvolatile memory such as Read Only Memory (ROM)831 and Random Access Memory (RAM) 832. A basic input/output system 833(BIOS), containing the basic routines that help to transfer information between elements within computer 810, such as during start-up, is typically stored in ROM 831. RAM832 typically contains data and/or program modules that are immediately accessible to and/or presently being operated on by processing unit 820. By way of example, and not limitation, fig. 14 illustrates operating system 834, application programs 835, other program modules 836, and program data 837.

The computer 810 may also include other removable/non-removable volatile/nonvolatile computer storage media. By way of example only, FIG. 14 illustrates a hard disk drive 841 that reads from or writes to non-removable, nonvolatile magnetic media, an optical disk drive 855, and a nonvolatile optical disk 856. The hard disk drive 841 is typically connected to the system bus 821 through a non-removable memory interface such as interface 840, and the optical disk drive 855 is typically connected to the system bus 821 by a removable memory interface, such as interface 850.

Alternatively or in addition, the functionality described herein may be performed, at least in part, by one or more hardware logic components. By way of example, and not limitation, illustrative types of hardware logic components that may be used include Field Programmable Gate Arrays (FPGAs), application specific integrated circuits (e.g., ASICs), application specific standard products (e.g., ASSPs), system-on-a-Chip Systems (SOCs), Complex Programmable Logic Devices (CPLDs), and so forth.

The drives and their associated computer storage media discussed above and illustrated in FIG. 14, provide storage of computer readable instructions, data structures, program modules and other data for the computer 810. In fig. 14, for example, hard disk drive 841 is illustrated as storing operating system 844, application programs 845, other program modules 846, and program data 847. Note that these components can either be the same as or different from operating system 834, application programs 835, other program modules 836, and program data 837.

A user may enter commands and information into the computer 810 through input devices such as a keyboard 862, a microphone 863, and a pointing device 861 (e.g., a mouse, trackball or touch pad). Other input devices (not shown) may include a joystick, game pad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit 820 through a user input interface 860 that is coupled to the system bus, but may be connected by other interface and bus structures. A visual display 891 or other type of display device is also connected to the system bus 821 via an interface, such as a video interface 890. In addition to the monitor, computers may also include other peripheral output devices such as speakers 897 and printer 896, which may be connected through an output peripheral interface 895.

The computer 810 operates in a networked environment using logical connections (e.g., controller area network-CAN, local area network-LAN, or wide area network-WAN) to one or more remote computers (e.g., a remote computer 880).

When used in a LAN networking environment, the computer 810 is connected to the LAN871 through a network interface or adapter 870. When used in a WAN networking environment, the computer 810 typically includes a modem 872 or other means for establishing communications over the WAN873, such as the Internet. In a networked environment, program modules may be stored in the remote memory storage device. By way of example, FIG. 14 illustrates remote application programs 885 as residing on remote computer 880.

It should also be noted that the different examples described herein may be combined in different ways. That is, portions of one or more examples may be combined with portions of one or more other examples. All of these are contemplated herein.

Example 1 is a computer-implemented method of controlling a mobile work machine, the method comprising:

obtaining a representation of a portion of a worksite divided into control regions, each control region corresponding to a control parameter value for a control parameter of a Work Machine Actuator (WMA) on the mobile work machine;

identifying a location of the mobile work machine in a current control area on a worksite;

controlling the WMA based on the control parameter value corresponding to the current control region;

detecting initiation of a parameter value modification operation;

detecting a modification of the control parameter value from a first value to a second value;

controlling the WMA based on the second value of the control parameter;

modifying the representation to include: a completed control area corresponding to a portion of the current control area that has been operated by the mobile work machine and that corresponds to the first value of the control parameter; and an incomplete current control area corresponding to a portion of the current control area that has not been processed by the mobile work machine and that corresponds to the second value of the control parameter.

Example 2 is a computer-implemented method according to any or all of the preceding examples, and further comprising:

generating a near real-time display showing the completed control area, the incomplete control area, and a position of the mobile work machine relative to the completed control area and the incomplete control area.

Example 3 is a computer-implemented method according to any or all of the preceding examples, wherein obtaining a representation of a portion of the worksite comprises:

accessing a map of the worksite divided into control areas; and

detecting a geographic location and orientation of the mobile work machine;

locating the mobile work machine on the map of the worksite based on the position and orientation of the mobile work machine.

Example 4 is a computer-implemented method according to any or all of the preceding examples, wherein controlling the WMA based on the control parameter value comprises:

identifying the current control area in which the mobile work machine is operating;

asking for a first parameter record corresponding to the current control area and the WMA; and

identifying the control parameter value in the first parameter record.

Example 5 is a computer-implemented method according to any or all of the preceding examples, and further comprising:

modifying the first parameter record to correspond to the completed control region.

Example 6 is a computer-implemented method according to any or all of the preceding examples, and further comprising:

generating a second parameter record corresponding to the incomplete current control area, including the second value of the control parameter value.

Example 7 is a computer-implemented method according to any or all of the preceding examples, and further comprising:

identifying other incomplete control areas on the worksite that are similar control areas to the incomplete current control area.

Example 8 is a computer-implemented method according to any or all of the preceding examples, and further comprising:

for each similar control region, determining whether to modify a control parameter value corresponding to the similar control region; and

if so, modifying the control parameter value corresponding to the similar control region based on changing the parameter value of the current control region from the first value to the second value.

Example 9 is a computer-implemented method according to any or all of the preceding examples, wherein modifying the control parameter values corresponding to the similar control regions comprises:

identifying a modified value of the control parameter value in the similar control region; and

changing the parameter values in the parameter record corresponding to the similar control area to modified values.

Example 10 is a computer-implemented method according to any or all of the preceding examples, wherein identifying other incomplete control areas on the worksite that are similar control areas to the incomplete current control area comprises:

accessing a similarity criterion in the second parameter record corresponding to the incomplete current control area; and

the similarity criteria is evaluated against characteristics of other incomplete control areas to identify the similar control areas.

Example 11 is a control system for a mobile work machine, the control system comprising:

a machine position identifier that identifies a position and an orientation of the mobile work machine;

a current control area identification system that positions the mobile work machine in a current control area on a map of a worksite in which the mobile work machine is operating, the map divided into control areas, each control area having a corresponding parameter value corresponding to a control parameter of a Work Machine Actuator (WMA);

a WMA control parameter identification system that identifies the parameter value corresponding to the current control region;

a control signal generator that generates a control signal to control the WMA corresponding to an identified parameter value;

a modified value identifier that detects a modified value that changes the parameter value to a modified value, the control signal generator generating a control signal to control the WMA based on the modified value of the control parameter; and

a current region modification processing system that modifies the map to include: a completed control area corresponding to a portion of the current control area that has been operated by the mobile work machine and that corresponds to the parameter value prior to modification of the control parameter; and an incomplete current control area corresponding to a portion of the current control area that has not been processed by the mobile work machine and that corresponds to the modified value of the control parameter.

Example 12 is the control system of any or all of the previous examples, and further comprising:

a display mechanism;

a display generator that generates a near real-time display of the worksite divided into the control area and the mobile work machine in the current control area on the display mechanism; and an actuatable value modifying interface mechanism actuated to modify the control parameter value from a first value to the modified value.

Example 13 is the control system of any or all of the previous examples, wherein the WMA control parameter identification system is configured to access a first parameter record corresponding to the current control region and the WMA, and identify the parameter value in the first parameter record.

Example 14 is the control system of any or all of the previous examples, wherein the current zone modification processing system comprises:

a completed control area record generator that modifies the first parameter record to correspond to the completed control area.

Example 15 is the control system of any or all of the previous examples, wherein the current zone modification processing system comprises:

an incomplete control area record generator that generates a second parameter record corresponding to the incomplete current control area, including the modified value of the control parameter value.

Example 16 is the control system of any or all of the previous examples, and further comprising:

a similar control area identification system that identifies other incomplete control areas on the worksite that are similar control areas to the incomplete current control area.

Example 17 is the control system of any or all of the previous examples, and further comprising:

a similar control region prompt generator that generates an operator prompt actuator on a near real-time display for actuation to indicate that a control parameter value corresponding to the similar control region is to be modified; and

a similar area record modification section that modifies the control parameter value corresponding to the similar control area based on changing the parameter value of the current control area from the parameter value to the modified value.

Example 18 is the control system of any or all of the previous examples, and further comprising:

a parameter modification value identifier that identifies a modified value of the control parameter value in the similar control area, wherein the similar area record modification section changes the parameter value in a parameter record corresponding to the similar control area to the modified value.

Example 19 is a computer-implemented method of controlling a mobile work machine, the method comprising:

accessing a map of a worksite divided into a plurality of different control regions, each control region corresponding to a control parameter value of a control parameter of a Work Machine Actuator (WMA) on the mobile work machine;

generating a near real-time display showing the worksite divided into the control areas, the near real-time display showing a position and orientation of the mobile work machine in a current control area on the worksite;

controlling the WMA based on the control parameter value corresponding to the current control region;

displaying an actuatable value modifying interface mechanism that is actuated to modify the control parameter value from a first value to a second value;

detecting a user interaction with the value modification interface mechanism that changes the value of the control parameter from the first value to the second value;

controlling the WMA based on the second value of the control parameter;

modifying the near real-time display to show: a completed control area corresponding to a portion of the current control area that has been operated by the mobile work machine and that corresponds to the first value of the control parameter; and an incomplete current control area corresponding to a portion of the current control area that has not been processed by the mobile work machine and corresponding to the second value of the control parameter.

Example 20 is a computer-implemented method according to any or all of the preceding examples, and further comprising:

identifying other incomplete control areas on the worksite that are similar control areas to the incomplete current control area;

for each similar control region, determining whether to modify a control parameter value corresponding to the similar control region; and

if so, modifying the control parameter value corresponding to the similar control region based on changing the parameter value of the current control region from the first value to the second value.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.