The present invention is provided to more reliably keep a work vehicle from coming into contact with an obstacle during automated driving. The work vehicle includes an electronic control system for automated driving that automatically drives the vehicle body. The electronic control system includes an obstacle detection module configured to detect presence or absence of an obstacle, and a contact avoidance control unit configured to perform, upon the obstacle detection module detecting an obstacle, contact avoidance control to keep the vehicle body from coming into contact with the obstacle. The obstacle detection module includes a plurality of obstacle searchers that are distributed on the front end portion and the right and left end portions of the vehicle body such that the front side and the right and left lateral sides of the vehicle body are search-target areas.

A method of working a field includes collecting data from a harvester correlated to a map of a field, generating an operating parameter map of an operating parameter of a tillage implement, and adjusting the operating parameter of the tillage implement as the tillage implement traverses the field based on the operating parameter map and a location of the tillage implement within the field. The operating parameter map is correlated to the map of the field and based at least in part on the data collected by the harvester. Methods of operating a tillage implement include selecting a variation of an operating parameter of a tillage implement with respect to a position within a field based on information collected by a harvester, propelling the tillage implement through the field, and adjusting the operating parameter of the tillage implement based on the selected variation. Related non-transitory computer-readable storage media are disclosed.

The present disclosure relates to an agricultural plough arrangement comprising an agricultural work vehicle and a plough implement connected to the agricultural work vehicle and comprising at least one ground engaging tool. At least one actuator mechanism is configured to move the plough implement laterally with respect to the agricultural work vehicle, wherein a control unit is provided that is to: receive field-data indicative of conditions of a field across which the agricultural plough arrangement is being moved; automatically determine an actuator-control-signal for the actuator mechanism based on the field-data, wherein the actuator-control-signal is for moving the plough implement laterally with respect to the agricultural work vehicle on the basis of the field-data received.

A system and method for controlling an agricultural implement connected to a vehicle. An actuator is arranged to control a lateral position of the implement with respect to the vehicle, also influencing the vertical angle of the implement. A camera mounted on the implement is connected to an image processing system which is adapted to derive the position of at least one row of plants in an image provided by the camera. An implement control unit controls the actuator to move the implement to a desired position based upon the derived position of the at least one row of plants, and a compensation arrangement compensates for the rotation of the camera around the vertical axis caused by the actuator based on the position of the actuator.

Various embodiments relate generally to computer vision and automation to autonomously identify and deliver for application a treatment to an object among other objects, data science and data analysis, including machine learning, deep learning, and other disciplines of computer-based artificial intelligence to facilitate identification and treatment of objects, and robotics and mobility technologies to navigate a delivery system, more specifically, to an agricultural delivery system configured to identify and apply, for example, an agricultural treatment to an identified agricultural object. In some examples, a method may include, receiving data representing a policy specifying a type of action for an agricultural object, selecting an emitter with which to perform a type of action for the agricultural object as one of one or more classified subsets, and configuring the agricultural projectile delivery system to activate an emitter to propel an agricultural projectile to intercept the agricultural object.

In one aspect, a system for disregarding obscured sensor data during the performance of an agricultural operation may include a sensor provided in operative association with an agricultural machine. The sensor may, in turn, be configured to capture three-dimensional data associated with a portion of the field within a field of view of the sensor. A controller of the system may be configured to configured to generate an initial three-dimensional representation of the field based on data received from the sensor. Moreover, the controller may be configured to identify an obscured region within the generated initial three-dimensional representation of the field. Additionally, the controller may be configured to disregard a three-dimensional volume associated with the obscured region from the initial three-dimensional representation of the field to form a modified three-dimensional representation of the field.

Systems and methods for computer vision and automation to autonomously identify and deliver for application a treatment to an object among other objects, data science and data analysis, including machine learning, deep learning, and other disciplines of computer-based artificial intelligence to facilitate identification and treatment of objects, and robotics and mobility technologies to navigate a delivery system, more specifically, to an agricultural delivery system configured to identify and apply, for example, an agricultural treatment to an identified agricultural object. In some examples, a method may include identifying a subset of payloads to provide one or more actions based on data representing a policy for one or more subsets of agricultural objects, causing one or more cartridges to be charged based on the subset of payloads, and, and implementing one or more cartridges at an agricultural projectile delivery system.

A method of harvesting crop material includes capturing an image of a plurality of regions 28 of a field 50. The respective image of the regions 28 is analyzed to determine data related to constituent species of the crop material located within each of the regions 28. The data is associated with a region identifier 48 assigned to the respective one of the regions 28, and saved in a memory 42 of a computing device 30. The crop material in the field 50 is then harvested and formed into a bale. The harvested crop material formed into the bale is gathered from a subset 46 of the regions 28. A region identifier 48 of each of the regions 28 included in the subset 46 of the regions 28 is associated with the bale identifier 38, such that the data related to constituent species of the crop material included in the bale is associated with the bale and may be obtained by querying the computing device 30.

Various embodiments of an apparatus, methods, systems and computer program products described herein are directed to an agricultural observation and treatment system and method of operation. The agricultural treatment system determines a vehicle pose of a vehicle as the vehicle moves along a path. The system identifies a first target agricultural object for treatment. Based on the determined vehicle pose, the system positions a treatment head of a first treatment unit such that a first projectile fluid may be emitted by the first treatment unit at the identified first target agricultural object. The system then causes an emitter to emit a fluid from the treatment head at the first target agricultural object.

An agricultural assembly for controllably harvesting a forage crop material, includes: an agricultural work vehicle; a mower-conditioner machine coupled with the agricultural work vehicle, the mower-conditioner machine including a crop-engaging device configured for engaging with the forage crop material; a control system operatively coupled with the agricultural work vehicle and the mower-conditioner machine, the control system including: a yield sensor configured for detecting an operative parameter associated with the crop-engaging device when the forage crop material engages the crop-engaging device and thereby for outputting an operative parameter signal associated with the operative parameter; a controller operatively coupled with the yield sensor and configured for receiving the operative parameter signal and for determining a forage crop material yield based at least in part on the operative parameter signal.