System for conducting an agricultural operation using an autonomous vehicle

• US 10,188,024 B2
• Filed: 05/02/2016
• Issued: 01/29/2019
• Est. Priority Date: 05/02/2016
• Status: Active Grant

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Rusciolelli, Adam, Dollinger, Tyson, Posselius, John, Foster, Christopher A., Ray, Brian
• Primary Examiner(s): Ismail, Mahmoud S
• Application Number:
  US15/144,238
• Publication Number:
  US 20170311534A1
• Time in Patent Office: 1,002 Days
• Field of Search: 701 25, 701 26, 701117, 701410, 701 23
• CPC Class Codes: A01B 33/16 with special additional arrangements A01B49/00 takes precedence; for sowing or fertilising A01B49/06
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01B 79/02 combined with other agricultural processing, e.g. fertilising, planting
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

The present invention provides a system for conducting agricultural operations in a field using one or more autonomous vehicles in which the agricultural operations may be optimized during run time. The system includes providing a mission plan for an autonomous vehicle, receiving progress updates from the vehicle as it conducts an agricultural operation according to the mission plan, and monitoring for event conditions which may be reported by the vehicle. Event conditions may include, for example, detection of an obstacle, or an oncoming vehicle, or a disablement of the vehicle. Upon receiving an event condition, the system may revise the mission plan to resolve the event condition while providing an optimization based on current agricultural conditions.

Claims

1. A method for conducting agricultural operations in an area having a boundary using first and second autonomous vehicles, comprising:

(a) providing a mission plans for the first and second autonomous vehicles, the mission plans including paths for the first and second autonomous vehicles to travel within the area to perform agricultural operations by the first and second autonomous vehicles within the boundary;

(b) receiving with a base station, via wireless transmission, progress information from the first and second autonomous vehicles indicating progress with respect to the agricultural operations;

(c) monitoring for an event condition with the base station;

(d) upon receiving an event condition, revising at least one of the mission plans for the first and second autonomous vehicles with the base station without real time user input to optimize performance of the agricultural operation within the area based on current agricultural conditions;

(e) transmitting the at least one revised mission plan without user approval of the revised mission plan from the base station to the first and second autonomous vehicles; and

(f) adjusting the path of at least one of the first and second autonomous vehicles in accordance with the at least one revised mission plan so as to resolve the event condition.

2. The method for conducting the agricultural operations of claim 1, wherein the progress information includes a position of each of the first and second autonomous vehicles with respect to a corresponding path.

3. The method for conducting the agricultural operations of claim 1, wherein the progress information includes at least one of an amount of product collected and an amount of product dispensed.

4. The method for conducting the agricultural operations of claim 1, wherein the event condition is reported by at least one of the first and second autonomous vehicles, and wherein the event condition is an obstacle detected by the at least one of the first and second autonomous vehicles in a corresponding path.

5. The method for conducting the agricultural operations of claim 1, wherein the event condition is an oncoming vehicle detected by at least one of first and second autonomous vehicles.

6. The method for conducting the agricultural operations of claim 5, wherein the oncoming vehicle is detected in an adjacent path to the path of the least one of the first and second autonomous vehicles.

7. The method for conducting the agricultural operations of claim 1, further comprising determining the at least one revised mission plan according to at least a first weight indicating an importance of completion time and a second weight indicating an importance of agricultural efficiency.

8. The method for conducting the agricultural operations of claim 1, further comprising determining the at least one revised mission plan according to a constraint requiring a maximum speeds for the first and second autonomous vehicles while performing corresponding agricultural operations.

9. The method for conducting the agricultural operations of claim 1, wherein an event condition reported by the second autonomous vehicle is a disablement of the second autonomous vehicle.

10. A system for managing agricultural operations in an area having a boundary using first and second autonomous vehicles, the system comprising:

a processor executing a program stored in a non-transient medium operable to;

(a) provide mission plans for the first and second autonomous vehicles, the mission plans including path for the first and second autonomous vehicles to travel within the area to perform agricultural operations by the first and second autonomous vehicles within the boundary;

(b) receive via wireless transmission progress information from the first and second autonomous vehicles indicating progress with respect to the agricultural operations;

(c) monitor for an event condition;

(d) upon receiving an event condition, revise at least one of the mission plans for the first and second autonomous vehicles without real time user input to optimize performance of the agricultural operation of a corresponding one of the first and second autonomous vehicles within the area based on current agricultural conditions;

(e) transmit the at least one revised mission plan without user approval of the revised mission plan to the first and second autonomous vehicles; and

(f) cause the path of a corresponding autonomous vehicle to adjust in accordance with the at least one revised mission plan so as to resolve the event condition.

11. The system for managing the agricultural operations of claim 10, further comprising to determine the at least one revised mission plan according to at least a first weight indicating an importance of completion time and a second weight indicating an importance of agricultural efficiency.

12. The system for managing the agricultural operations of claim 10, further comprising to determine the at least one revised mission plan according to a constraint requiring a maximum speed for the corresponding autonomous vehicle while performing the agricultural operation.

13. A method for conducting agricultural operations in a field having a boundary using first and second autonomous vehicles comprising:

(a) providing a mission plan for the first and second autonomous vehicles, the mission plan including first and second paths for the first and second autonomous vehicles to travel within the boundary of the field to perform first and second agricultural operations, respectively, within the boundary of the field;

(b) receiving progress information with a base station, via wireless transmission, from the first and second autonomous vehicles indicating progress with respect to the first and second agricultural operations, respectively;

(c) monitoring for an event condition with the base station;

(d) upon receiving an event condition, revising with the base station the mission plan without real time user input to optimize performance of the first and second agricultural operations within the boundary of the field based on current agricultural conditions for at least one of the first and second autonomous vehicles;

(e) transmitting the revised mission plan without user approval of the revised mission plan from the base station to the first and second autonomous vehicles; and

(f) adjusting at least one of the first and second paths for a corresponding least one of the first and second autonomous vehicles in accordance with the revised mission plan so as to resolve the event condition.

14. The method for conducting agricultural operations in the field using first and second autonomous vehicles of claim 13, wherein the event condition is an obstacle detected by at least one of the first and second autonomous vehicles in at least one of the first and second paths, respectively.

15. The method for conducting agricultural operations in the field using first and second autonomous vehicles of claim 13, wherein the event condition is reported by the first autonomous vehicle, and wherein the event condition is the second autonomous vehicle being detected as an oncoming vehicle by the first autonomous vehicle.

16. The method for conducting agricultural operations in the field using first and second autonomous vehicles of claim 13, further comprising determining the revised mission plan according to at least a first weight indicating an importance of completion time and a second weight indicating an importance of agricultural efficiency.

17. The method for conducting agricultural operations in the field using first and second autonomous vehicles of claim 13, further comprising determining the revised mission plan according to constraints requiring first and second maximum speeds for the first and second autonomous vehicles while performing the first and second agricultural operations, respectively.

18. The method for conducting agricultural operations in the field using first and second autonomous vehicles of claim 13, further comprising the mission plan including conducting the first agricultural operation in an area of the field before conducting the second agricultural operation in the area.

19. The method for conducting agricultural operations in the field using first and second autonomous vehicles of claim 18, wherein the first autonomous vehicle is a harvester and the second autonomous vehicle is a tiller.