Agricultural system

Patent metadata

Field	Value
Publication number	US-11740632-B2
Application number	US-201816611718-A
Country	US
Kind code	B2
Filing date	May 8, 2018
Priority date	May 9, 2017
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

A system including a controller associated with an agricultural vehicle. The controller is configured to determine route-plan-data that is representative of a route to be taken by the agricultural vehicle in an agricultural field, based on bale-location-data. The bale-location-data is representative of the location of bales in the agricultural field.

First claim

The invention claimed is:

1. A system comprising:
an unmanned aerial vehicle with at least one sensor, the sensor simultaneously gathering real-time field-data including bale-location-data and swath-location-data; and
a controller associated with an agricultural vehicle, the controller configured to:
receive the field-data from the unmanned vehicle;
determine route-plan-data that is representative of a route to be taken by the agricultural vehicle in an agricultural field, based on the bale-location-data and the swath-location data, wherein the bale-location-data is representative of locations of bales in the agricultural field and the swath-location data is representative of locations of swaths in the agricultural field, wherein the controller is configured to determine the route-plan-data such that the agricultural vehicle will travel along the swaths while avoiding the locations of the bales in the agricultural field, the route-plan-data being additionally based on the field-data that is updated as the agricultural vehicle picks up crop material in the agricultural field; and
determine the bale-location-data as multiple sets of coordinates for each bale, the multiple sets of coordinates for each bale being representative of the locations of a plurality of corners of the bale, the multiple sets of coordinates for each bale being used to determine a perimeter of each bale.

2. The system of claim 1 , wherein the controller is configured to determine the route-plan-data such that the agricultural vehicle will deposit future bales in a vicinity of the locations of the bales in the agricultural field.

3. The system of claim 1 , wherein the agricultural vehicle is a baler.

4. The system of claim 1 , wherein the unmanned vehicle acquires the field-data, the field-data being streamed to the controller, wherein the controller is further configured to:
receive the field-data from the aerial vehicle that is representative of crop material that is to be picked up from the agricultural field by the agricultural vehicle; and
determine the route-plan-data also based on the field-data.

5. The system of claim 4 , wherein the controller is further configured to receive updated field-data as the agricultural machine picks up the crop material from the agricultural field, and the multiple sets of coordinates for each bale additionally being used to determine a three-dimensional volume of each bale.

6. The system of claim 1 , wherein the controller is configured to determine the route-plan-data by modifying an earlier route plan whilst the agricultural vehicle is in use in the agricultural field.

7. The system of claim 1 , wherein the controller is further configured to determine vehicle-control-instructions for the agricultural vehicle, based on the route-plan-data.

8. The system of claim 7 , wherein the vehicle-control-instructions comprise vehicle-steering-instructions for automatically controlling a direction of travel of the agricultural vehicle.

9. The system of claim 8 , wherein the vehicle-control-instructions further comprise route-speed-instructions for automatically controlling a speed of the agricultural vehicle at locations along the route, the at least one sensor including a height-measurement-sensor for acquiring material-height-data representative of the stub height of the crop material.

10. A system comprising:
an unmanned aerial vehicle configured to acquire:
real-time field-data, representative of an agricultural field that has one or more bales located in it, the field-data including bale-location-data and swath-location-data; and
field-location-data associated with the field-data; and

a controller associated with an agricultural vehicle, the controller configured to:
determine route-plan-data that is representative of a route to be taken by the agricultural vehicle in the agricultural field, based on the bale-location-data and the swath-location-data, wherein the bale-location-data is representative of locations of the one or more bales in the agricultural field and the swath-location data is representative of locations of swaths in the agricultural field, wherein the controller is configured to determine the route-plan-data such that the agricultural vehicle will travel along the swaths while avoiding the locations of the bales in the agricultural field,

wherein the controller is further configured to determine the bale-location-data based on the field-data and the field-location-data, the field-data being updated as the agricultural vehicle picks up crop material in the agricultural field, and determine the bale-location-data as multiple sets of coordinates for each bale, the multiple sets of coordinates for each bale being representative of the locations of a plurality of corners of each bale, the multiple sets of coordinates for each bale being used to determine a perimeter of a two-dimensional footprint of each bale.

11. The system of claim 10 , wherein the controller is further configured to:
determine bale-dimension-data that is representative of sizes of the one or more bales, based on the field-data; and
determine the bale-location-data based on the bale-dimension-data.

12. The system of claim 10 , wherein the controller is configured to:
receive baler-data from a baler that deposits the bales in the agricultural field; and
determine the bale-location-data based on the baler-data, the unmanned aerial vehicle mapping the bales dropping from the back of the baler.

13. The system of claim 12 , wherein the baler-data comprises:
baler-location-data representative of a location of the baler at an instant in time that the baler deposits a bale in the field; and
bale-dimension-data that is representative of a size of the bale.

14. The system of claim 10 , wherein the route-plan-data is representative of a route to be taken by the agricultural vehicle for an entire unprocessed portion of the agricultural field.

15. The system of claim 7 , wherein the system further comprises the agricultural vehicle, the agricultural vehicle configured to be operated in accordance with the vehicle-control-instructions.

16. The system of claim 1 , wherein properties of un-baled swaths of the crop material from the field data is additionally used to determine the route-plan-data.

17. The system of claim 1 , wherein a bale-drop-estimation algorithm is used to also determine bale-location-data that is representative of a future bale drop location at which bales will be dropped in the agricultural field at a future time, the bale-drop-estimation algorithm estimating the future bale drop location based on a density of un-baled swaths of the crop material from the field data, the bale-drop-estimation being additionally used to determine the route-plan-data.

Assignees

• Cnh Ind America Llc

Inventors

• Boydens Joachim
• Debbaut Thomas
• Verhaege Didier

Classifications

• G05D1/0212 Primary

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• A01B69/008

  automatic · CPC title

• G05D2201/0201

  Physics · mapped topic

• G06Q10/047 Primary

  Optimisation of routes or paths, e.g. travelling salesman problem · CPC title