US Patent 9696162 Mission and path planning using images of crop wind damage

A harvest route generator system generates a harvest route for a harvesting machine. The harvest route generator system has a route generator that receives lodged crop information, from a sensor system, indicative of a characteristic of a lodged crop in a field and generates a harvesting route through the field for the harvesting machine, based on the lodged crop information. The harvest route generator system also has a communication component that communicates the harvesting route through the field to the harvesting machine.