System and a method for optimizing the trajectory to be followed when weeding crops

A support system for determining a trajectory to be followed by an agricultural work vehicle, when weeding distinct areas of weed within a field of crops, the system comprises:

• a mapping unit including at least one processor configured to enable the mapping unit to receive:
• i) coordinates relating to boundaries of a field to be worked;
• and
• ii) coordinates relating to boundaries of distinct areas of weed being located within the boundary of the field of crops;
• a capacity parameter unit including the at least one processor configured to enable the capacity parameter unit to receive one or more capacity parameters relating to the work vehicle;
• a trajectory calculating unit including the at least one processor configured to enable the trajectory calculating unit to calculate an optimized trajectory to be followed by the work vehicle upon weeding the distinct areas of weed;
• wherein the optimized trajectory is calculated on a basis of the coordinates received by the mapping unit;
• and one or more of the one or more capacity parameters received by the capacity parameter unit;
• wherein the trajectory calculating unit is configured to perform the following:
• a) approximating the coordinates relating to the boundaries of the field to be worked to a boundary polygon;
• and wherein the support system is configured to determine the trajectory to be followed, based on that approximation;
• b) approximating the coordinates relating to boundaries of one or more obstacles, if any, to respective obstacle polygons;
• and wherein the support system is configured to determine the trajectory to be followed, based on that approximation;
• c) defining one or more headlands located immediately within the boundary polygon;
• d) in respect of each obstacle polygon, if present, defining one or more headlands surrounding the obstacle polygon;
• e) defining a work area that corresponds to an area within the boundary polygon with exclusion of an area corresponding to any headlands and with exclusion of an area corresponding to any obstacle polygon;
• f) in respect of orientation of one or more sides of headlands, define an array of parallel working rows located within the work area;
• g) define a number of weed rows, wherein a weed row is either a headland comprising at least part of a distinct weed area, or being a working row comprising at least part of a distinct weed area;
• h) in respect of one or more arrays of parallel working rows defined in act f), define an array of possible continuous driving paths by connecting separate entities, wherein the separate entities is either headlands, or parts of a headland, and working rows, or parts of a working row;
• so as to define possible continuous driving paths;
• wherein each possible continuous driving path comprises all weed rows;
• i) in respect of each of the possible continuous driving paths defined in act h), calculate an associated cost parameter, the calculated cost parameter being representative of efficiency by following that specific continuous driving path;
• and
• j) select as the trajectory to be followed, that specific continuous driving path exhibiting the highest efficiency;
• and
• wherein the support system is configured for automatically providing a signal for supplying to a weeding implement of the work vehicle, the signal being configured to activate and/or deactivate the weeding implement upon entering and/or exiting areas of weed to be weeded.