A method for weeding crops includes, at an autonomous machine: recording an image at the front of the autonomous machine; detecting a target plant and calculating an opening location for the target plant longitudinally offset and laterally aligned with the location of the first target plant; driving a weeding module to laterally align with the opening location; tracking the opening location relative to a longitudinal reference position of the weeding module; when the weeding module longitudinally aligns with the first opening location, actuating the blades of the first weeding module to an open position; recording an image proximal to the weeding module; and in response to detecting the blades of the weeding module in the open position: calculating an offset between the opening location and a reference position of the weeding module, based on the image; and updating successive opening locations calculated by the autonomous machine based on the offset.

A sickle cutting system is mounted on a header for forward travel over ground having a standing crop thereon and includes a cutter bar with a plurality of knife guards and two sickle bars driven at a phase angle difference where the drive system has a phase difference control component operable to drive the first and second sickle bars at a first phase angle difference typically at or around 180 degrees difference to minimize vibration when no cutting action is occurring and at a second phase angle difference which can be at or around 90 degrees to minimize variations in loading applied to the drive system when the cutting action is taking place.

An agricultural harvesting machine has a cutting apparatus formed as a header for cutting and picking up crop of a crop stand, an inclined conveyor downstream of the cutting apparatus and in which a temporal layer height flow is adjusted, and a driver assistance system for controlling the cutting apparatus. The driver assistance system has a computing device and a sensor arrangement with a crop sensor system for generating crop parameters of the crop stand and a layer height sensor for generating the temporal layer height flow. The computing device simultaneously generates the cutting apparatus parameters of the cutting table length, horizontal reel position and vertical reel position so as to be adapted to one another and conveys them to the cutting apparatus to implement a harvesting process strategy in ongoing harvesting operation.

The autonomous travel work machine executes the predetermined operation on the operation target while autonomously traveling, and includes: a driving unit driving a wheel to cause a main body to travel; a reception opening disposed on a side face of the main body regarding a traveling direction of the main body; an operation unit mounted on the main body and executing the predetermined operation on the operation target; and a control unit that controls the driving unit switchably between a first operation of causing the main body to travel against the operation target and executing the predetermined operation by the operation unit on the operation target and a second operation of moving the main body to a position where the operation target can be received in the reception opening and executing the predetermined operation by the operation unit on the operation target received in the reception opening.

A robotic working tool system (200) comprising a robotic working tool (100) comprising a work tool (160), an attachment receiver (310) arranged to receive an attachment (320) and a controller (110), the controller (110) being configured to receive information regarding an attachment (320) being received, and in response thereto adapt change the operation of the robotic working tool (100) to operate in an attachment operating mode, and to determine an aspect of the attachment (320) and adapt the operation in the attachment operating mode to accommodate for the determined aspect.

A robotic work tool system (200) comprising a boundary (230) enclosing a work area (205) and a robotic work tool (100) comprising a proximity sensor (180) arranged to sense an obstacle (S1, S2, O, B), the robotic work tool (100) being arranged to operate within the work area (205) and the robotic work tool (100) being configured to determine (610) a sensed obstacle (S1, S2, O, B); determine (620) a distance (d); determine (630) whether the distance (d) is inside a threshold distance (D), and if so disregard (640) the proximity sensor (180); and, if not, take (650) evasive action to avoid the sensed obstacle (S1, S2, O, B).

Autonomous machine navigation techniques may determine vision-based pose data based on feature data and object recognition data extracted from images. The vision-based pose data may be used to generate a three-dimensional point cloud that represents at least a work region. The vision-based pose data may be used to determine an operational vision-based pose relative to the three-dimensional point cloud.

The autonomous travel working machine includes a working body unit, a cover unit, and a connecting structure unit connecting the working body unit and the cover unit. The connecting structure unit includes a body connecting section attached to the working body unit and a cover connecting section attached to the cover unit. When the cover unit is lifted, a shaft portion of the cover unit is slid upwardly with respect to a head portion of the working body unit so that the cover unit is moved upwardly or lifted with respect to the working body unit. When the working machine hits against an obstacle, an intermediate portion of the body connecting section is resiliently deformed in a lateral direction so that the cover unit is moved with respect to the working body unit substantially only in the lateral direction.

A method for operating a self-propelled agricultural harvester with a cutting unit and a self-propelled agricultural harvester are disclosed. A driver assistance system associated with the agricultural harvester includes a memory that saves data and a computing unit for processing data saved in the memory. The driver assistance system and the cutting unit form an automated cutting unit. A harvesting process strategy is selected from a plurality of harvesting process strategies saved in the memory and at least one cutting unit parameter is selected. The at least one cutting unit parameter may be determined autonomously by the computing unit to implement the at least one selected harvesting process strategy and may be specified to the cutting unit. While the automated cutting unit is being controlled according to the selected harvesting process strategy, responsive to detecting a harvesting process situation on a field to be worked, with the harvesting process situation indicative of deviating from the at least one harvesting process strategy, regulation sequences, which temporarily override the execution of the harvesting process strategy, are executed.

Disclosed herein are a wheel assembly and a robot cleaner including a main body and a wheel assembly coupled to the main body to guide movement of the main body. The wheel assembly has a rotation arm including a first end portion rotatably mounted on the main body, a drive wheel rotatably installed on a second end portion of the rotation arm opposite the first end portion, and an elastic member including a first end installed at the main body and a second end vertically moveably installed at the rotation arm opposite the first end, such that a reduction degree of a contact force due to a descent of the drive wheel.