A travel assistance system for an agricultural machine includes a traveling device included in an agricultural machine, an acquirer to acquire a travel route to be traveled by the agricultural machine and created on a field representing an agricultural field, a corrector to correct the travel route acquired by the acquirer, and a controller configured or programmed to control the traveling device based on the travel route corrected by the corrector. The travel route includes lines connected to each other and the corrector includes a creator to create an auxiliary line extending from an ending portion of a first line of the lines to a starting portion of a second line of the lines connected to the ending portion of the first line, the auxiliary line being inclined relative to the second one of the lines.

A positioning processing unit measures the position of a work vehicle by a predetermined positioning method on the basis of a GNSS signal received from a satellite. A travel processing unit causes the work vehicle to travel automatically on the basis of position information of the work vehicle. A switching processing unit can switch between an RTK method and a DGPS method. A setting processing unit sets the work mode of the work vehicle to either a work accuracy preferential mode or a work continuity preferential mode. The switching processing unit switches between the RTK method and the DGPS method on the basis of the work mode and the positioning state.

A management system includes a storage and a processor. While an agricultural machine including an GNSS receiver is traveling, the storage stores GNSS data output from the GNSS receiver and sensing data output from a sensor sensing a surrounding environment of the agricultural machine in association with each other. The processor is configured or programmed to generate and output visualized data, which represents the surrounding environment of the agricultural machine, based on the GNSS data and the sensing data, when reception interference of a satellite signal occurs.

A combine harvester comprises a control device. The control device functions as a travel route creation unit, a discharge route creation unit, and an autonomous driving control unit. The travel route creation unit creates a travel route R for an unharvested area of a field. The discharge route creation unit creates a discharge route D that extends from an end position E, of the travel route R, at which automatic harvesting of the unharvested area is completed, to a discharge position which is preset for the field. The autonomous driving control unit controls the automatic harvesting travel according to the travel route R or the automatic discharge travel according to the discharge route D.

The invention is intended for organizing the process of targeted delivery of small doses of liquid chemical treatment agents from unmanned aerial vehicles, for example, in precision agriculture or animal husbandry. Delivery of the required dose of liquid chemical treatment agents to the required application area by series of one or more targeted ejections of a continuous, and optimally laminar, jet from the unmanned aerial vehicle in flight, according to the method and/or delivery system according to the invention, is performed without significant deflection of the liquid and its losses outside the application area compared to known methods and spraying devices, and, therefore, more environmentally friendly and economical; and the application system has a minimal negative impact on the application areas and ensures the motion of unmanned aerial vehicles along optimal and safe routes.

A combine is a work vehicle that autonomously travels on the basis of a preset travel route, and is provided with an autonomous travel allowance switch, which is an autonomous travel allowance operation member that allows autonomous travel, and a control device that functions as an autonomous travel control part that controls autonomous travel based on the travel route. The autonomous travel control part executes autonomous travel based on the travel route while the autonomous travel allowance switch is being operated (pressed).

In a combine harvester, a travel control portion performs control to enable traveling on a plurality of outermost periphery straight-ahead routes extending along a plurality of sides constituting a farm field outline, respectively. A route creation portion sets, based on machine body information of the combine harvester, a turning necessary area which is necessary for a turn from one outermost periphery straight-ahead route to a next outermost periphery straight-ahead route, and also creates, from a predetermined start point set on the one outermost periphery straight-ahead route toward an unworked land adjacent to an already-worked land which is formed by traveling based on the one outermost periphery straight-ahead route, a predetermined number of inclined routes, which are inclined at a predetermined angle relative to the one outermost periphery straight-ahead route, in the turning necessary area. The travel control portion performs control to enable autonomous straight-ahead traveling along the inclined route.

A breeding robot including a base and a support being movably connected to the base. The support is of a hollow cylindrical structure, a telescopic arm movably passes through the support, a first motor is mounted to an end of the telescopic arm away from the support, a transmission shaft of the first motor is connected to a rotating bracket, a saw blade is mounted to the bottom side of the rotating bracket, and the saw blade is used for cutting maize tassel. The end of the rotating bracket is mounted with a CCD detector, and the CCD detector is used for detecting the position of the maize tassel. A blower is further mounted to the base, an air outlet of the blower is connected to a first end of an air duct, and a second end of the air duct is connected to the air blowing portion.

A combine is a work vehicle that autonomously travels on the basis of a preset travel route, and is provided with an autonomous travel allowance switch, which is an autonomous travel allowance operation member that allows autonomous travel, and a control device that functions as an autonomous travel control part that controls autonomous travel based on the travel route. The autonomous travel control part executes autonomous travel based on the travel route while the autonomous travel allowance switch is being operated (pressed).

Techniques for autonomous vehicle boundary intersection detection and avoidance are described. In an example, a geofence boundary is received at a display coupled to a control module of a vehicle. A 2D footprint is generated using a definition of the vehicle and an implement coupled to the vehicle. Using geographic coordinates for the vehicle, a current position and orientation for the footprint are determined. A 2D projection footprint is generated for the vehicle using the current position and orientation, a current steering state, and a direction of travel. A first distance from the current position and orientation at which the projection footprint intersects with the boundary is determined. Based on the first distance, the speed of the vehicle is maintained at or below a maximum speed.