Route planning for an agricultural vehicle
OwnerKun Zhou, René Søndergaard Nilsson +2inventors
InventorsKun Zhou, René Søndergaard Nilsson, Kenneth Guldbrandt Lausdahl, Søren Ludvig Bech
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Abstract
A mechanism for generating a recommended route for an agricultural vehicle in advance of performing an agricultural process. The mechanism further includes tracking adherence of the agricultural vehicle to the recommended route and/or controlling the vehicle to follow the recommended route. The recommended route is generated responsive to at least boundary information, a plurality of waylines generated based on windrow information, and a plurality of generated connecting segments.
Claims19
A computer-implemented method for generating a recommended route for an agricultural vehicle to perform an agricultural process within a predetermined region bound by a boundary, the computer-implemented method comprising:
- obtaining, by a guidance control system, boundary information defining the predetermined region;
- obtaining, by the guidance control system, windrow information defining the locations of a plurality of windrows within the predetermined region;
- generating, by the guidance control system, a plurality of waylines based on the windrow information;
- generating, by the guidance control system, a plurality of connecting segments for connecting the generated plurality of waylines together;
- generating, by the guidance control system, a recommended route for movement of the agricultural vehicle within the predetermined region by processing at least the boundary information, the plurality of waylines, and the plurality of connecting segments;
- and
- during a subsequent performance of the agricultural process by the agricultural vehicle within the region:
- monitoring, using a position monitoring device, the position of the agricultural vehicle with respect to the recommended route;
- and
- responsive to a deviation of the monitored position of the agricultural vehicle from the recommended route, updating, by the guidance control system, the recommended route.
A computer-implemented method for moving an agricultural vehicle within a predetermined region bound by a boundary, the method comprising:
- obtaining, by a guidance control system, boundary information defining the predetermined region;
- obtaining, by the guidance control system, windrow information defining the locations of a plurality of windrows within the predetermined region;
- generating, by the guidance control system, a plurality of waylines based on the windrow information;
- generating, by the guidance control system, a plurality of connecting segments for connecting the generated plurality of waylines together;
- generating, by the guidance control system, a recommended route for movement of the agricultural vehicle within the predetermined region by processing at least the boundary information, the plurality of waylines, and the plurality of connecting segments;
- and
- during a subsequent performance of the agricultural process by the agricultural vehicle within the region, controlling the travel direction of the agricultural vehicle to follow the recommended route for the agricultural vehicle.
An agricultural vehicle, comprising:
- a guidance control system configured to control one or more operations of the agricultural vehicle and comprising:
- at least one processor;
- and
- at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the guidance control system to:
- obtain boundary information defining the predetermined region;
- obtain windrow information defining the locations of a plurality of windrows within the predetermined region;
- generate a plurality of waylines based on the windrow information;
- generate a plurality of connecting segments for connecting the generated plurality of waylines together;
- generate a recommended route for movement of the agricultural vehicle within the predetermined region by processing at least the boundary information, the plurality of waylines, and the plurality of connecting segments;
- and
- during a subsequent performance of the agricultural process by the agricultural vehicle within the region:
- monitor, using a position monitoring device, the position of the agricultural vehicle with respect to the recommended route;
- and
- responsive to a deviation of the monitored position of the agricultural vehicle from the recommended route, update, by the guidance control system, the recommended route.
Dependencies are inferred from the claim text.