A combine (work vehicle) is provided with: a positioning unit that obtains a measurement point indicating a position of a vehicle body; an initial external shape generating unit that generates an initial external shape of an agricultural field on the basis of a travel trajectory of the vehicle body constituted of a plurality of measurement points obtained when the vehicle body was manually driven along an external edge of the agricultural field; and an obstacle identification unit that identifies an obstacle for travel on the basis of the travel trajectory and generates an obstacle area including the identified obstacle.

An acquisition processing part acquires a captured image from a camera which is installed on a work vehicle. A detection processing part detects an obstacle on the basis of the captured image which is acquired by the acquisition processing part. When an obstacle is detected by the detection processing part, a reception processing part receives a traveling stop instruction for stopping automatic traveling of the work vehicle or a traveling continuation instruction for continuing automatic traveling of the work vehicle. A traveling processing part stops the automatic traveling of the work vehicle when the reception processing part receives the traveling stop instruction, and continues the automatic traveling of the work vehicle when the reception processing part receives the traveling continuation instruction.

A work vehicle can automatically travel according to an instruction output from a first operation terminal. A setting processing unit of the work vehicle sets whether to include, in the automatic traveling permission condition for permitting automatic traveling, a condition in which the communication state between the operation terminal and the work vehicle is a connection state where communication between the operation terminal and the work vehicle is established.

The present invention relates to a method for determining a work zone for an unmanned autonomous vehicle, comprising determining a set of points within the work zone, with the vehicle capturing at least one image of a ground at each point, and determining classifications for ground types, exploration by the vehicle of a contiguous part of the terrain up to a perimeter, starting from a point within the contiguous part, wherein an obstacle or a transition to a different ground type is part of the perimeter, wherein the vehicle determines a position during exploration, repeating the previous step from a next point, where the next point is not in an already explored part, and creating a map of the work zone, corresponding to the explored parts, based on the determined positions. The invention also relates to an unmanned autonomous vehicle and a use.

A method navigates a robotic mower (2) by means of a wire (4, 8). The robotic mower (2) comprises at least one sensor (12, 14). The method comprises controlling the robotic mower (2) to exit a parking position at a station (11), wherein in the parking position the robotic mower (2) is at least partially arranged at an inside of a loop (10) of the station (11), determining that the robotic mower (2) has moved further outside of the loop (10) by detecting at least one signal of the loop (10) by means of the at least one sensor (12, 14), detecting at least one signal of the wire (4, 8) by means of the at least one sensor (12, 14) and controlling the robotic mower (2) to straddle along the wire (4, 8).

The present disclosure relates to a robotic working tool system comprising a robotic working tool (1), and a navigation arrangement enabling the robotic working tool to navigate within a working area (3) defined by a working area boundary (13). A recording unit (62) is used to establish at least first and second sub-areas (21-47), defined by closed perimeters. A mapping unit (60) is used to provide the working area to the robotic working tool (1) as a composite area (49, 51) with a closed perimeter, which is defined by the union of said first and second sub-areas (21-47).

Provided are an apparatus and method for rail detection and control of a motion of a mobile robot for safely switching driving of the mobile robot between a flat area and a rail area in an environment in a greenhouse in which a rail is provided for pipe heating. For more accurate rail detection, accurate three-dimensional (3D) point cloud data is obtained using a tilting laser scanner and is analyzed to detect a position of the rail and control a motion of a mobile robot for rail docking. The apparatus includes a sensor configured to be mounted in a mobile robot, and a rail detection unit configured to obtain 3D point cloud data using the sensor and detect the 3D point cloud data.

A work management system includes: a working robot configured to perform work while autonomously traveling on a field; a management facility configured to manage the field and balls; and a management device configured to know a management situation of the balls. A work schedule of the working robot is adjusted depending on a ball management situation known by the management device.

A lawnmower is instructed to move from a reference point along the boundary wire and to follow the boundary wire along a boundary path back to the reference point, using data from at least one wire sensor of the lawnmower. One or more elements are determined along the boundary path using distance data from at least one distance sensor of the lawnmower and using angular velocity data from at least one direction sensor of the lawnmower. The one or more elements are identified as one of at least three different types of elements. The mowing area is calculated from the identified types of the one or more elements and the distance data and angular velocity data received for the one or more elements. Other important features are obtained from the calculation of the mowing area including, but not limited to, multiple starting points and a parallel mowing pattern.

A vegetation monitoring device with at least one camera unit (28) for monitoring vegetation health in a garden (10), wherein the at least one camera unit (28) is configured to detect the garden area (30, 32, 34) in at least a first range of the electromagnetic spectrum, in particular in the visible light range, and in at least a second region of the electromagnetic spectrum, in particular in the infrared range, in order to determine at least one vegetation index of at least one garden area (30, 32, 34) of the garden (10), in particular in the region of visible light, and in at least one second region of the electromagnetic spectrum, in particular in the infrared range, wherein the camera unit (28) is provided for an arrangement at least substantially above ground level of the garden (10) and for an at least substantially stationary arrangement outside or in the vicinity of the garden (10), and a vegetation monitoring system is proposed.