A robotic mower and a path planning method, system and device are provided and the method includes controlling the robotic mower to exit a charging station, controlling the robotic mower to find a boundary wire or guide wire, where the boundary wire is pre-laid on the edge of the working area of the robotic mower, and the guidance line is pre-laid in the working area of the robotic mower, controlling the robotic mower to follow the boundary wire or guide wire to move until it reaches the predetermined position. With the disclosure, tracks generated when the robotic mower exit the charging station along a fixed path can be avoided, and the damage to the lawn or vegetation can be reduced.

A route generating processor generates a target route R that includes a plurality of straight routes, along each of which a work vehicle is caused to automatically travel from a start position to an end position. A receiving processor receives a first setting operation to set the work vehicle, after reaching an end position of a first straight route, to travel rearward toward a start position of the first straight route, or a second setting operation to set the work vehicle, after reaching the end position of the first straight route, to make a turn traveling, in a front, up to a second straight route.

An automatic steering system for an agricultural vehicle includes a controller operably coupled to a steering sensor configured to provide a feedback signal that includes vehicle steering information for automatically controlling the steering device. The controller is configured to receive the feedback signal and current steering information from the steering sensor and determine desired steering rate information based on the current steering information and a desired steering position. The controller is also configured to compare a current steering rate to the desired steering rate information and disengage automatic steering control based on comparing the current steering rate to the desired steering rate information. Automatic steering systems including assisted steering devices and methods for steering an agricultural vehicle are also provided.

The work vehicle includes a vehicle body, a cabin mounted on the vehicle body and having a roof, and a positioning device located above the cabin and configured to detect a position of the vehicle body on the basis of a signal transmitted from a positioning satellite. The roof has a roof front end located in a forefront portion in a front-rear direction; and a roof uppermost end located behind the roof front end and located higher than the roof front end. A position of the positioning device is lower than the roof uppermost end.

A work vehicle equipped with a cabin that covers a driving part is disclosed. The work vehicle an antenna unit provided on an upper part of a cabin left side face part, which is one side face part out of left and right side face parts of the cabin, and a handrail part provided on the cabin left side face part and used to perform work on the antenna unit.

A remote control module for a self-propelled working device has a terminal data interface for interchanging data with a mobile terminal using a terminal data protocol specific to the terminal type, and a working device data interface for interchanging data with the working device using a working device data protocol specific to the working device type. A processing unit is adapted, when the mobile terminal is coupled to the self-propelled working device, to determine the identity and the type of the terminal and the identity and the type of the working device via the respective data interface or to retrieve them from a data memory, to reciprocally translate the respective data protocols when interchanging data between the terminal and the working device, and to transmit machine control data (MCD) from the terminal to the working device and to transmit machine status data (MSD) from the working device to the terminal.

A system for spraying plants comprises a location-determining receiver for estimating a position of a sprayer with respect to one or more rows of plants. A distance sensor is arranged to measure a distance between a nozzle assembly and a plant row segment. A guidance module is adapted to align the nozzle assembly with a target path between the rows of plants, such as a centered path between the rows, or offset between the rows of the plants. A first nozzle is targeted toward a first zone with respect to the plant row segment based on a first spray pattern of the first nozzle. A second nozzle is targeted toward a second zone with respect to the plant row segment based on a second spray pattern of the second nozzle. A nozzle selection module for selecting automatically a first nozzle or a second nozzle based on maximum coverage of a target zone around the plant segment based on the first zone, the second zone, and the measured distance.

An agricultural vehicle monitoring system includes one or more noncontact sensors configured to sense multiple objects along a scanline. A comparative vehicle monitor is in communication with the one or more noncontact sensors. The comparative vehicle monitor is configured to provide a specified row width and to identify one or more crop rows from the scan line and determine one or more lengths of scan line segments between identified crop rows. The comparative vehicle monitor is further configured to determine a vehicle position including one or more of a vehicle angle or a vehicle location according to the specified row width and the one or more determined lengths of scan line segments between the identified crop rows.

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 system for controlling a working implement connected to a vehicle, the system comprising: at least one tool mounted on the working implement, the implement and the at least one tool configured to perform an agricultural operation; an automatic steering device associated with the vehicle, the automatic steering device configured to guide the vehicle on an intended vehicle path; an actuator for controlling the lateral position of the working implement relative to the vehicle, the actuator connected to an implement control unit that can be operated to control the actuator in such a way that the working implement is moved on an intended path of the working implement and the implement control unit is set up to compensate a lateral deviation of the vehicle from the intended path of the vehicle through actuation of the actuator; and wherein the implement control unit is programmed to pre-set the actuator after a turning operation in a position in which the effects of the turning operation is compensated.