BR102022025465A2 - AGRICULTURAL MACHINE WITH FRONT SENSOR SYSTEM AND ACTIONABLE BEAM - Google Patents

Abstract

Embodiments relate to an agricultural machine including a beam, a drive system, a sensor system and a control system. The beam extends away from an agricultural machine body. The drive system controls a position of the drive beam relative to the body. The sensor system generates measurement data that indicate the position of a point on the ground in front of an agricultural machine component in relation to the sensor system. The control system determines the target beam height for the ground point. Based on the measurement data and the target beam height, the control system triggers the drive system to adjust the beam position. As a result of the tweak, the height of the beam relative to the ground is equal to the height of the target beam before the component passes over the ground point.

Description

AGRICULTURAL MACHINE WITH FRONT SENSOR SYSTEM AND ACTIONABLE BEAM BACKGROUND DISCLOSURE FIELD

[001] This disclosure relates to an agricultural machine with a front sensor system and an actionable beam, and more specifically, to proactively adjust the position of the beam based on data from the sensor system.

DESCRIPTION OF THE RELATED TECHNIQUE

[002] Agricultural machines can move across a field and perform agricultural actions in the field or on crops growing in the field. To carry out agricultural actions, the agricultural machine supports one or more treatment mechanisms by a beam. However, the beam and treatment mechanisms can be damaged as the farm machine moves across the field. For example, the beam could hit the ground or an object in the field.

SUMMARY

[003] The embodiments refer to an agricultural machine that includes an actionable beam, a drive system, a sensor system and a control system. The beam extends away from the farm machine body. The beam can support a treatment mechanism. The drive system controls a position of the driveable beam in relation to the agricultural machine body. The sensor system includes one or more sensors and generates measurement data. This measurement data indicates distances and angles between the sensor system and ground points in the field. Measurement data can also indicate heights of plants growing in the field. Ground points in the field are at least a first threshold distance (e.g. 0.5 meters) in front of an agricultural machine component (e.g. beam, body or a locomotion mechanism). The control system determines a target (or desired) beam height for each point on the ground. Based on the measurement data and target beam heights, the control system triggers/commands/drives the drive system to adjust the beam position as the farm machine moves towards the ground points. As a result of the tweaks, the height of the beam relative to the field is equal to (eg, within a second threshold of) each target beam height before the component passes through the corresponding ground points.

[004] Among other advantages, the agricultural machine reduces the probability of the beam (or an object attached to the beam) hitting the ground or an object in the field. The farm machine can also increase beam stability and reduce beam height variability as it moves across the field.

[005] To generate measurement data (eg distance) for ground points in front of the component, the sensor system can be oriented along a forward direction and a downward direction. Prospective information allows the control system to adjust the beam while considering the dynamics and limits of the driver system. The sensor system can be attached to the beam or to the body of the agricultural machine. The sensor system may include a LIDAR sensor. The sensor system can also include an IMU sensor or potentiometer sensor.

[006] The control system can determine the target actionable beam heights based on at least one of: a detection distance of the sensor system, a detection angle of the detection system, a speed of the agricultural machine moving through the field , a driver authority of the driver system, a crop in the field, a crop height in the field, a treatment mechanism attached to the driveable beam, or a ground height variability. In response to ground height variability exceeding a threshold variability value, the control system may raise the actuatable beam to a predetermined safety position. The beam in the safety position is unlikely to hit the ground or objects in the field.

[007] For brevity, the description here refers to adjusting the position of a beam of an agricultural machine. Additionally, or alternatively, the drive system may include drives for controlling other components of the agricultural machine. For example, the drive system can control a position of an intermediate body that supports the beams. In another example, the drive system controls an agricultural machine chassis. The positions of these other components can be adjusted using methods and systems similar to those described in this document.

[008] Other aspects include components, devices, systems, improvements, methods, processes, applications, computer-readable media and other technologies related to any of the above.

BRIEF DESCRIPTION OF THE DRAWINGS

[009] FIG. 1A illustrates an isometric view of an agricultural machine, according to a first embodiment example.

[0010] FIG. 1B illustrates a top view of an agricultural machine, according to the first embodiment.

[0011] FIG. 1C illustrates an isometric view of an agricultural machine, according to a second exemplary embodiment.

[0012] FIG. 2 is a block diagram of the system environment for the agricultural machine, in accordance with one or more example embodiments.

[0013] FIGS. 3A to 3C are front views of an agricultural machine moving through different parts of a field, in accordance with one or more exemplary embodiments.

[0014] FIG. 4A illustrates a cross-sectional view of a sensor and beam of the agricultural machine of figures 3A to 3C, according to one or more exemplary embodiments.

[0015] FIGS. 4B- to 4C illustrate a sample ground dot pattern for a sensor), in accordance with one or more example embodiments.

[0016] FIG. 5 illustrates example target heights for the ground points illustrated in figure 4A, in accordance with one or more exemplary embodiments.

[0017] FIG. 6 illustrates a terrain map of a field, in accordance with one or more example embodiments.

[0018] FIG. 7 illustrates a method for adjusting a beam of an agricultural machine moving across a field, in accordance with one or more exemplary embodiments.

[0019] FIG. 8 is a block diagram illustrating components of an example machine for reading and executing instructions from a machine-readable medium, in accordance with one or more example embodiments.

[0020] FIGS. represent various embodiments for illustration purposes only. One skilled in the art will readily recognize from the following discussion that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles described herein.

DETAILED DESCRIPTION I. INTRODUCTION

[0021] The modalities refer to an agricultural machine with a frontal sensor system and an actionable beam. This allows the farm machine to proactively adjust beam position based on data from the sensor system. Before describing the modalities of this agricultural machine, figures 1 and 2 describe general information related to examples of agricultural machines.

II. FIELD MANAGEMENT AND TREATMENT PLANS

[0022] Agricultural managers (“managers”) are responsible for managing agricultural operations in one or more fields. Managers work to implement an agricultural objective in these fields and select from a variety of agricultural actions to implement that agricultural objective. Traditionally, managers are a farmer or agronomist working in the field, but they can also be other systems set up to manage agricultural operations in the field. For example, a manager can be an automated farm machine (eg farm machine 100 below), a machine-learned computer model, etc. In some cases, a manager can be a combination of the managers described above. For example, a manager might include a farmer assisted by a machine-learned agronomic model and one or more automated farm machines, or it might be a farmer and an agronomist working together.

[0023] Managers implement one or more farming objectives for a field. An agricultural objective is a macro-level objective for a field. For example, macrocentric agricultural objectives may include treating crops with growth promoters, neutralizing weeds with growth regulators, harvesting a crop with the best possible crop yield, or any other suitable agricultural objective. However, agricultural goals can also be a more micro-level goal for the field. For example, microcentric farming objectives might include treating a specific plant in the field, repairing or correcting a part of an agricultural machine, soliciting feedback from a manager, etc. Of course, there are many possible agricultural goals and the examples mentioned above are not intended to be limiting.

[0024] Agricultural objectives can be achieved by one or more agricultural machines performing a series of agricultural actions. Agricultural machines are described in more detail below. Agricultural actions are any operation implementable by an agricultural machine within the field that works towards an agricultural objective. Consider, for example, the agricultural goal of harvesting a crop with the best possible yield. This agricultural objective requires a series of agricultural actions, for example, planting the field, fertilizing the plants, watering the plants, weeding the field, harvesting the plants, evaluating the yield, etc. Likewise, each agricultural action related to crop harvesting can be an agricultural objective in itself. For example, planting the field may require its own set of farming actions, e.g. preparing the soil, digging the soil, planting a seed, etc.

[0025] In other words, managers accomplish an agricultural objective by implementing a treatment plan in the field. A treatment plan is a hierarchical set of macrocentric and/or microcentric objectives that fulfill the manager's agricultural objective. Within a treatment plan, each macro or micro-objective may require a set of agricultural actions to be carried out, or each macro or micro-objective may be an agricultural action in itself.

[0026] A treatment plan is usually a time-sequenced set of agricultural actions to apply to the field that the manager hopes will achieve the agricultural objective. A result is a representation of whether, or how well, an agricultural machine achieved an agricultural objective. An outcome can be a qualitative measure, such as “accomplished” or “not accomplished”, or it can be a quantitative measure, such as “40 pounds harvested” or “1.25 acres treated”. The results can be positive or negative, depending on the configuration of the agricultural machine or the implemented treatment plan. Additionally, results can be measured by farm machine sensors, entered by managers, or accessed from a datastore or network.

III. AGRICULTURAL MACHINE Overview

[0027] An agricultural machine that implements agricultural actions of a treatment plan can have a variety of configurations, some of which are described in more detail below.

[0028] Figure 1A is an isometric view of an agricultural machine 100 carrying out agricultural actions of a treatment plan, according to an exemplary embodiment, and Figure 1B is a top view of the agricultural machine 100 in FIG. 1A. FIG. 1C is an isometric view of another farm machine 100 carrying out actions of a treatment plan in accordance with an exemplary embodiment.

[0029] The agricultural machine 100 includes a detection mechanism 110, a treatment mechanism 120 and a control system 130. The agricultural machine 100 can additionally include an assembly mechanism 140, a verification mechanism 150, a power source, digital memory, communication device, or any other suitable component that allows the agricultural machine 100 to implement agricultural actions in a treatment plan. Agricultural machine 100 may include additional or fewer components than those described herein. Furthermore, the described components and functions of the agricultural machine 100 are examples only and an agricultural machine 100 may have different or additional components and functions beyond those described below.

[0030] The agricultural machine 100 is configured to carry out agricultural actions in a field and the agricultural actions implemented are part of a treatment plan. To illustrate, the agricultural machine 100 implements an agricultural action that applies a treatment to one or more plants 102, soil or substrate 106 within a geographic area. Here, agricultural treatment actions are included in a treatment plan to regulate plant growth. As such, treatments are typically applied directly to a single plant 102, but alternatively may be applied directly to multiple plants, applied indirectly to one or more plants, applied to the environment associated with the plant (e.g. soil, atmosphere or other part of the adjacent plant environment or connected by an environmental factor such as wind), or otherwise applied to plants.

[0031] In a particular example, the agricultural machine 100 is configured to implement an agricultural action that applies a treatment that necroses the plant (for example, weeding) or part of the plant (for example, pruning). In this case, the cultivation action may include dislodging the plant from the supporting substrate 106, incinerating a part of the plant (e.g., with an electromagnetic wave such as a laser), applying a working fluid treatment concentration (e.g., fertilizer , hormone, water, etc.) to the plant, or treat the plant in any other suitable way.

[0032] In another particular example, the agricultural machine 100 is configured to implement an agricultural action that applies a treatment to regulate plant growth. Regulating plant growth can include promoting plant growth, promoting growth of a plant part, preventing (e.g. retarding) growth of the plant or plant part, or controlling plant growth. Examples of regulating plant growth include applying growth hormone to the plant, applying fertilizer to the plant or substrate, applying a disease treatment or insect treatment to the plant, electrically stimulating the plant, watering the plant, pruning the plant or treatment of the plant. Furthermore, plant growth can be regulated by pruning, necrosis or treatment of plants adjacent to the plant.

operating environment

[0033] The agricultural machine 100 operates in an operational environment. The operational environment is the environment around the agricultural machine 100 as it implements agricultural actions of a treatment plan. The operating environment also includes the agricultural machine 100 and its corresponding components.

[0034] The operating environment MAY include a field. As such, the agricultural machine 100 implements the agricultural actions of the treatment plan in the field. A field is a geographic area where the farm machine 100 implements a treatment plan. The field can be an outdoor field of plants, but it can also be an indoor location that houses plants, such as a greenhouse, laboratory, grow house, set of containers, or any other suitable environment.

[0035] The field can include any number of field parts. A field part is a subunit of a field. For example, a field part can be a field part small enough to include a single plant, large enough to include many plants, or some other size. The agricultural machine 100 can perform different agricultural actions for different parts of the field. For example, agricultural machine 100 may apply a herbicide to some parts of the field in the field, while applying a pesticide to another part of the field. Furthermore, a field and a field part are largely interchangeable in the context of the methods and systems described in this document. That is, the treatment plans and their corresponding agricultural actions can be applied to an entire field or to a part of the field, depending on the circumstances at play.

[0036] Depending on the application, the limits of the field parts can be determined by an agricultural manager, for example, based on the shape and size of the field. In some embodiments, part boundaries depend on the size of the farm machine, the speed of the machine as it moves across the field, the frequency with which the farm machine performs farming actions, and the frequency with which the farm machine generates farm action data. . For example, if a harvester farm machine header is 30 to 45 feet wide and generates crop yield data every 5 to 10 feet, then parts of the field can be 30 to 45 feet wide and 5 to 10 feet of lenght.

[0037] The operating environment may also include plants. As such, agricultural actions that agricultural machine 100 implements as part of a treatment plan can be applied to plants in the field. Plants can be crops, but they can also be weeds or any other suitable plant. Some example crops include cotton, lettuce, soybeans, rice, carrots, tomatoes, corn, broccoli, cabbage, potatoes, wheat or any other suitable cash crop. The weeds may be grasses, broadleaf weeds, thistles or any other suitable determinant weed.

[0038] More generally, the plants 102 may include a stem that is disposed above (e.g., above) the substrate 106 and a root system attached to the stem that is located lower than the plane of the substrate (e.g., below ground). The stem can support any branches, leaves and/or fruits. The plant may have a single stem, leaf or fruit, multiple stems, leaves or fruit, or any number of stems, leaves or fruit. The root system can be a main root system or a fibrous root system and the root system can support the position of the plant and absorb nutrients and water from the substrate 106. In various examples, the plant can be a vascular plant, non-vascular plant, woody plant , herbaceous plant or any suitable type of plant.

[0039] The plants in a field can be grown in one or more rows of plants (eg flowerbeds). Rows of plants are typically parallel, but they don't have to be. Each row of plants is usually spaced between 2 inches and 45 inches apart when measured perpendicular to an axis representing the row of plants. Rows of plants can have wider or narrower spacing, or can have varying spacing between multiple rows (for example, a 12-inch spacing between a first and a second row, a 16-inch spacing between a second and a third line etc).

[0040] The 102 plants within a field may include the same crop type (eg, same genus, same species, etc.). For example, each field part in a field can include corn crops. However, the plants within each field can also include multiple crops (eg a first crop, a second crop, etc.). For example, some field parts in a field might include lettuce crops while others include pig weeds, or in another example, some field parts in a field might include beans while others include corn. Also, a single field part can include different types of crop. For example, a single field part can include a soybean plant and a weed.

[0041] The operating environment may also include a substrate. As such, the agricultural actions that the agricultural machine 100 implements as part of a treatment plan can be applied to the substrate. The substrate 106 can be soil, but alternatively it can be a sponge or any other suitable substrate. The substrate may or may not include plants depending on its location in the field. For example, a portion of the substrate may include a row of crops, while the portion of the substrate between the rows of crops does not include plants.

IV.A EXAMPLE OF MACHINE CONFIGURATIONS Detection mechanism(s)

[0042] The agricultural machine 100 may include a detection mechanism 110. The detection mechanism 110 identifies objects in the operating environment of the agricultural machine 100. To do this, the detection mechanism 110 obtains information describing the environment (for example, sensor or image data) and processes this information to identify pertinent objects (eg plants, substrate, people, etc.) in their surrounding environment. The identification of objects in the environment also allows the agricultural machine 100 to implement agricultural actions in the field. For example, detection engine 110 can capture an image of the field and process the image with a plant identification template to identify plants in the captured image. Agricultural machine 100 then implements agricultural actions in the field based on the plants identified in the image.

[0043] The agricultural machine 100 can include any number or type of detection mechanism 110 that can assist in determining and implementing agricultural actions. In some embodiments, detection mechanism 110 includes one or more sensors. For example, detection engine 110 may include a multispectral camera, a stereo camera, a CCD camera, a single lens camera, a CMOS camera, a hyperspectral imaging system, a LIDAR system (Light Range and Detection System), a depth detection system, dynamometer, IR camera, thermal camera, humidity sensor, light sensor, temperature sensor or any other suitable sensor. Additionally, sensing mechanism 110 can include an array of sensors (e.g., an array of cameras) configured to capture information about the environment around farm machine 100. For example, sensing mechanism 110 can include an array of cameras configured to capture an array of images representing the environment around the agricultural machine 100. The sensing mechanism 110 can also be a sensor that measures a state of the agricultural machine. For example, the sensing mechanism could be a speed sensor, a heat sensor, or some other sensor that can monitor the state of an agricultural machine component. Furthermore, the detection mechanism 110 can also be a sensor that measures components during the implementation of an agricultural action. For example, sensing mechanism 110 can be a flow monitor, grain harvest sensor, mechanical stress sensor, etc. Whatever the case, the detection engine detects information about the operating environment.

[0044] A detection mechanism 110 can be mounted at any point on the mounting mechanism 140. Depending on where the detection mechanism 110 is mounted in relation to the treatment mechanism 120, one or the other can pass through a geographic area 104 in the field before the other. For example, sensing mechanism 110 can be positioned on mounting mechanism 140 so that it traverses a geographic area 104 ahead of treatment mechanism 120 as farm machinery 100 moves through the field. In another example, sensing mechanism 110 is positioned on mounting mechanism 140 so that the two traverse a geographic location at substantially the same time as agricultural machinery 100 moves across the field. Likewise, the sensing mechanism 110 can be positioned on the mounting mechanism 140 so that the treatment mechanism 120 traverses a geographic location ahead of the sensing mechanism 110 as the farm machine 100 moves through the field. The sensing mechanism 110 may be statically mounted to the mounting mechanism 140 or it may be detachably attached to the mounting mechanism 140. In other examples, the sensing mechanism 110 may be mounted to some other surface of the agricultural machine 100 or it may be incorporated into another component of the agricultural machine 100.

Verification mechanism(s)

[0045] The agricultural machine 100 may include a verification mechanism 150. Generally, the verification mechanism 150 records a measurement of the operating environment and the agricultural machine 100 can use the recorded measurement to verify or determine the extent of an implemented agricultural action.

[0046] To illustrate, consider an example in which an agricultural machine 100 implements an agricultural action based on a measurement of that environment by the detection mechanism 110. The verification mechanism 150 records a measurement of the same geographic area measured by the detection mechanism 110 and where the agricultural machine 100 implemented the determined agricultural action. Agricultural machine 100 then processes the recorded measurement to determine the extent of agricultural action. For example, the scan engine 150 can record an image of the geographic region around a plant identified by the detection engine 110 and treated by a treatment engine 120. The farm machine 100 can apply a detection treatment algorithm to the recorded image. to determine the extent of treatment applied to the plant.

[0047] The information recorded by the verification mechanism 150 can also be used to empirically determine the operating parameters of the agricultural machine 100 (for example, calibrate) that will obtain the desired effects of the implemented agricultural actions. For example, farm machine 100 may apply a calibration detection algorithm to a measurement recorded by farm machine 100. In this case, farm machine 100 determines whether the actual effects of an implemented farming action are the same as its intended effects. If the effects of the implemented agricultural action are different from the intended effects, the agricultural machine 100 can carry out a calibration process. The calibration process alters the operating parameters of the agricultural machine 100 such that the effects of future implemented agricultural actions are the same as their intended effects. To illustrate, consider the previous example where agricultural machine 100 recorded an image of a treated plant. There, farm machine 100 can apply a calibration algorithm to the recorded image to determine if the treatment is properly calibrated (eg, at its intended location in the operating environment). If the farm machine 100 determines that the farm machine is not calibrated (for example, the applied treatment is in an incorrect location), the farm machine 100 can calibrate itself so that future treatments are in the correct location. Other sample calibrations are also possible.

[0048] Verification engine 150 can have multiple configurations. For example, the verification mechanism 150 can be substantially similar to (e.g., be the same type of mechanism as) the detection mechanism 110 or it can be different from the detection mechanism 110. In some cases, the detection mechanism 110 and the Check engine 150 may be one in the same (e.g., the same sensor). In an exemplary configuration, the verification mechanism 150 is positioned distal to the detection mechanism 110 with respect to the direction of travel and the treatment mechanism 120 is positioned between them. In this configuration, the verification mechanism 150 traverses a geographic location in the operating environment past the treatment mechanism 120 and the detection mechanism 110. However, the assembly mechanism 140 can retain the relative positions of the system components in any other suitable configuration. . In some configurations, the verification mechanism 150 can be included in other components of the agricultural machine 100.

[0049] Farm machine 100 can include any number or type of verification mechanism 150. In some embodiments, verification mechanism 150 includes one or more sensors. For example, scan engine 150 may include a multispectral camera, a stereo camera, a CCD camera, a single lens camera, a CMOS camera, a hyperspectral imaging system, a LIDAR system (Light Range and Detection System), a depth detection system, dynamometer, IR camera, thermal camera, humidity sensor, light sensor, temperature sensor or any other suitable sensor. Furthermore, scan engine 150 can include an array of sensors (e.g., an array of cameras) configured to capture information about the environment around farm machine 100. For example, scan engine 150 can include an array of cameras configured to capture an array of images representing the operating environment.

Treatment Mechanism(ies)

[0050] The agricultural machine 100 may include a treatment mechanism 120. The treatment mechanism may implement agricultural actions in the operating environment of an agricultural machine. For example, an agricultural machine may include a treatment mechanism 120 that applies a treatment to a plant, a substrate, or some other object in the operating environment. More generally, agricultural machine 100 employs treatment mechanism 120 to apply a treatment to a treatment area 122, and treatment area 122 can include anything within the operating environment. That is, treatment area 122 can be any part of the operating environment.

[0051] When the treatment is a plant treatment, the treatment mechanism 120 applies a treatment to a plant in the field. The treatment mechanism 120 can apply treatments to identified plants or unidentified plants. For example, agricultural machine 100 can identify and treat a specific plant in the field. Alternatively, or additionally, the farm machine 100 may identify some other trigger that indicates a plant treatment and the treatment mechanism 120 may apply a plant treatment. Some examples of plant care mechanisms include: one or more spray nozzles, one or more electromagnetic energy sources, one or more physical implements configured to manipulate plants, but other plant care mechanisms are also possible.

[0052] Furthermore, when the treatment is a plant treatment, the effect of treating a plant with a treatment mechanism may include any plant necrosis, plant growth stimulation, plant part necrosis or removal, growth stimulation of plant part or any other suitable treatment effect. Furthermore, the treatment mechanism can apply a treatment that dislodges a plant from the substrate, cuts a plant or part of a plant (e.g. cutting), incinerates a plant or part of a plant, electrically stimulates a plant or part of a plant. plants, fertilizes or promotes growth (e.g., with a growth hormone) of a plant, waters a plant, applies light or some other radiation to a plant, and/or injects one or more working fluids into the substrate 106 adjacent a plant (for example, within a threshold distance of the plant). Other herbal treatments are also possible. When applying a plant treatment, the treatment mechanisms 120 can be configured to spray one or more of: a herbicide, a fungicide, an insecticide, some other pesticide, or water.

[0053] When the treatment is a substrate treatment, the treatment mechanism applies a treatment to some part of the substrate in the field. The treatment mechanism 120 can apply treatments to identified areas of the substrate or unidentified areas of the substrate. For example, agricultural machine 100 can identify and treat an area of substrate in the field. Alternatively, or additionally, the farm machine 100 may identify some other trigger that indicates a substrate treatment and the treatment mechanism 120 may apply a treatment to the substrate. Some examples of treatment mechanisms configured to apply treatments to the substrate include: one or more spray nozzles, one or more electromagnetic energy sources, one or more physical implements configured to manipulate plants, but other plant treatment mechanisms are also possible.

[0054] It is clear that the agricultural machine 100 is not limited to mechanisms for treating plants and substrates in the field. Agricultural machine 100 can include treatment mechanisms for applying various other treatments to objects in the field. Some other example treatment mechanisms might include components for applying nitrogen to the field and harvesting plant parts from crop plants growing in the field.

[0055] Depending on the configuration, the agricultural machine 100 can include several numbers of treatment mechanisms 120 (for example, 1, 2, 5, 20, 60, etc.). A treatment mechanism 120 may be attached (e.g., statically coupled) to mounting mechanism 140 or attached to farm machine 100. Alternatively, or additionally, a treatment mechanism 120 may be movable (e.g., translatable, rotatable, etc.) in the agricultural machine 100. In one embodiment, the agricultural machine 100 includes a single treatment mechanism 120. In this case, the treatment mechanism 120 is operable to align the treatment mechanism 120 with a treatment area 122. In a second variation , agricultural machine 100 includes a treatment mechanism assembly comprising an array of treatment mechanisms. In this configuration, a treatment mechanism 120 can be a single treatment mechanism 120, a combination of treatment mechanisms 120, or the treatment mechanism assembly. Thus, a single treatment engine, a combination of treatment engines, or the entire set can be selected to apply a treatment to a treatment area. Likewise, the single, combined or entire set can be triggered to align with a treatment area as needed. In some configurations, the farm machine can align a treatment mechanism with an identified object in the operating environment. That is, the agricultural machine can identify an object in the operating environment and trigger the treatment mechanism so that its treatment area aligns with the identified object.

[0056] A treatment mechanism 120 may be operable between a standby mode and a treatment mode. In the standby mode the treatment engine 120 does not apply a treatment and in the treatment mode the treatment engine 120 is controlled by the control system 130 to apply the treatment. However, treatment mechanism 120 may be operable in any other suitable number of operating modes.

Control system

[0057] The agricultural machine 100 includes a control system 130. The control system 130 controls the operation of the various components and systems in the agricultural machine 100. For example, the control system 130 can obtain information about the operating environment, processes these information to identify an agricultural action to implement and implements the identified agricultural action with agricultural machine system components.

[0058] The control system 130 can receive information from the detection mechanism 110, the verification mechanism 150, the treatment mechanism and/or any other component or system of the agricultural machine 100. For example, the control system can receive measurements of the detection mechanism 110 or verification mechanism 150, or information related to the state of a treatment mechanism or implemented agricultural actions of a detection mechanism 110. Other information is also possible.

[0059] Likewise, the control system 130 may provide input to the detection mechanism 110, the verification mechanism 150 and/or the treatment mechanism. For example, control system 130 may be configured with input and control operating parameters from farm machine 100 (eg, speed, direction). Likewise, the control system 130 can be configured to input and control operational parameters of the detection mechanism 110 and/or verification mechanism 150. The operational parameters of detection mechanism 110 and/or verification mechanism 150 can include processing, location and/or angle of detection mechanism 110, image capture intervals, image capture settings, etc. Other entries are also possible.

[0060] The control system 130 can be operated by a manager who operates the agricultural machine 100, fully or fully autonomous, operated by a manager connected to the agricultural machine 100 by a network, or any combination of the foregoing. For example, control system 130 can be operated by an agricultural manager seated in a cabin of agricultural machine 100, or control system 130 can be operated by an agricultural manager connected to the control system via a wireless network. In another example, the control system may implement an array of control algorithms, machine vision algorithms, decision algorithms, etc. that allow to operate autonomously or partially autonomously.

[0061] The control system 130 can be implemented by a computer or a distributed computer system. Computers can be connected in various network environments. For example, the control system could be a series of computers implemented in agricultural machine 100 and connected by a local area network. In another example, the control system can be a series of computers implemented in the agricultural machine 100, in the cloud, a client device and connected by a wireless area network.

[0062] The control system 130 can apply one or more computer models to determine and implement agricultural actions in the field. For example, control system 130 can apply a plant identification module to images acquired by the detection engine to determine and implement agricultural actions. Control system 130 can be coupled to agricultural machine 100 so that an agricultural manager (e.g., a driver) can interact with control system 130. In other embodiments, control system 130 is physically removed from agricultural machine 100 and communicates with system components (eg detection engine 110, treatment engine 120, etc.) wirelessly.

[0063] In some configurations, the agricultural machine 100 may additionally include a communication apparatus, which functions to communicate (e.g., send and/or receive) data between the control system 130 and a set of remote devices. The communication apparatus may be a Wi-Fi communication system, a cellular communication system, a short range communication system (eg Bluetooth, NFC, etc.), or any other suitable communication system.

Other machine components

[0064] In various configurations, the agricultural machine can include any number of additional components.

[0065] For example, the agricultural machine may include an assembly mechanism 140. The assembly mechanism 140 provides a mounting point for the components of the agricultural machine 100. That is, the assembly mechanism 140 may be a chassis or frame around to which the agricultural machine components 100 may be attached, but alternatively may be any other suitable mounting mechanism 140. More generally, the mounting mechanism 140 statically retains and mechanically supports the positions of the sensing mechanism 110, the treatment mechanism 120 and the check mechanism 150. In an exemplary configuration, the mounting mechanism 140 extends outwardly from an agricultural machine body 100 such that the mounting mechanism 140 is approximately perpendicular to the direction of travel 115. In some embodiments, the mounting mechanism can include an array of treatment mechanisms 120 positioned laterally along the mounting mechanism 140. In some configurations, the agricultural machine may not include a mounting mechanism 140, the mounting mechanism 140 can be alternatively positioned or the mechanism assembly 140 can be incorporated into any other component of the agricultural machine 100.

[0066] The agricultural machine 100 may include locomotion mechanisms. Locomotion mechanisms may include any number of wheels, continuous steps, articulated legs, or some other locomotion mechanism(s). For example, the agricultural machine may include a first set and a second set of coaxial wheels, or a first set and a second set of continuous steps. In either example, the axis of rotation of the first and second sets of wheels/steps are approximately parallel. Furthermore, each set is arranged along opposite sides of the agricultural machine. Normally, the locomotion mechanisms are linked to a drive mechanism that makes the locomotion mechanisms transfer the agricultural machine through the operating environment. For example, the agricultural machine may include a drive train for rotating wheels or steps. In different configurations, the agricultural machine may include any other suitable number or combination of travel mechanisms and drive mechanisms.

[0067] The agricultural machine 100 may also include one or more coupling mechanisms 142 (e.g., a hitch). Coupling mechanisms 142 function to removablely or statically couple various components of the agricultural machine. For example, a coupling mechanism 142 can attach a drive mechanism to a secondary component such that the secondary component is pulled behind the agricultural machine. In another example, a coupling mechanism 142 can couple one or more treatment mechanisms to the farm machine.

[0068] The agricultural machine 100 can additionally include a power source, which functions to power the system components, including the detection mechanism 110, control system 130 and treatment mechanism 120. The power source can be mounted on the mechanism mounting mechanism 140, may be removablely coupled to mounting mechanism 140, or may be incorporated into another component of the system (e.g., located on the drive mechanism). The energy source can be a rechargeable energy source (e.g. a rechargeable battery pack), an energy harvesting energy source (e.g. a solar system), a fuel consuming energy source (e.g. a fuel cell array or an internal combustion system), or any other suitable energy source. In other configurations, the energy source can be incorporated into any other component of the agricultural machine 100.

IV.B SYSTEM ENVIRONMENT

[0069] Figure 2 is a block diagram of the system environment for the agricultural machine 100, according to one or more example embodiments. In this example, control system 130 is connected to external systems 220 and an array of machine components 230 through a network 240 within the environment of system 200.

[0070] External systems 220 are any system that can generate data representing information useful for determining and implementing agricultural actions in a field. External systems may include one or more sensors 250, one or more processing units 260, and one or more datastores 270. One or more sensors 250 may measure the field, operating environment, farm machine, etc. and generating data representing those measurements. For example, sensors could include a rain sensor, a wind sensor, a heat sensor, a camera, and so on. Processing units can process measured data to provide additional information that can aid in the determination and implementation of agricultural actions in the field. For example, a processing unit can access an image of a field and calculate weed pressure from the image, or it can access historical weather information for a field to generate a forecast for the field. Datastores store historical information about the agricultural machine, the operating environment, the field, the area around the agricultural machine, etc., which can be beneficial in determining and implementing agricultural actions in the field. For example, the datastore can store results of previously implemented treatment plans and agricultural actions for a field, its surrounding field, and general air. In addition, the datastore can store results of specific agricultural actions in the field or results of agricultural actions carried out in nearby fields with similar characteristics. The datastore can also store historical weather, floods, field use, crops planted, etc. to the countryside and surrounding area. Finally, datastores can store any information measured by other components in the system environment.

[0071] The array of machine components 230 includes one or more components 222. The components 222 are elements of the agricultural machine 100 that can perform agricultural actions (for example, a treatment mechanism 120). As illustrated, each component 222 has one or more input controllers 234 and one or more sensors 236, but a component can include only sensors 236 or only input controllers 234. An input controller 234 controls the function of the component. For example, an input controller 234 may receive machine commands over network 240 and trigger the component in response. A sensor 236 generates data representing measurements of the operating environment and provides that data to other components within the system environment 200. The measurements may be from the component, the farm machine 100 or the operating environment. For example, a sensor 236 can measure a configuration or state of component 222 (eg, a setting, parameter, power load, etc.), measure conditions in the operating environment (eg, humidity, temperature, etc.), capture representation operating environment information (eg images, depth information, distance information) and generate data representing the measurement(s).

[0072] Network 240 connects system environment nodes 200 to allow microcontrollers and devices to communicate with each other. In some embodiments, the components are connected within the network as a Controller Area Network (CAN). In this case, within the network each element has an input and output connection and the network 240 can translate information between the various elements. For example, network 240 receives input information from external systems 220 and component matrix 230, processes the information, and transmits the information to control system 130. Control system 130 generates a farming action based on the information and transmits instructions for implementing the cultivating action, for example, for the appropriate component(s) 222 of the component matrix 230.

[0073] In addition, system environment 200 may be other types of network environments and include other networks or a combination of network environments with multiple networks. For example, the environment of system 200 may be a network such as the Internet, a LAN, a MAN, a WAN, a wired or wireless mobile network, a private network, a virtual private network, a direct line of communication, and the like.

V. FRONT SENSOR SYSTEM AND ACTIONABLE BEAM

[0074] Figures 3A to 7 refer to agricultural machines with front sensors and actionable beams (for example, assembly mechanisms 140). These figures also refer to methods and systems for adjusting the positions of the actionable beams.

[0075] Figures 3A to 3C are front views of an agricultural machine 300 moving through different parts of a field, according to some embodiments. Agricultural machine 300 includes a drive system 315 coupled to two beams 320A and 320B. In the example of Figures 3A-3C, beams 320 are attached to the front of body 310. Beams 320 extend away from body 310 and support sensors 325A and 325B. Agricultural machine 300 includes a third sensor 325C also coupled to actuator system 315. Agricultural machine 300 may include additional components, less than or different from those illustrated in Figures 3A to 3C. For example, beams 320 support treatment mechanisms 120 and verification mechanisms 150.

[0076] A sensor 325 is a detection mechanism (eg detection mechanism 110, sensor 250 or array sensor 236) configured to detect height from the ground. More specifically, sensor 325 generates data indicative of a distance and angles between sensor 325 and a ground point in the field. Data can be referred to as measurement data or sensor data. In some embodiments, the angles are two orthogonal angles, such as (1) the polar and azimuthal angles or (2) angles describing the vertical and horizontal positions of the ground point (eg, of the sensor's reference frame). Thus, with the three independent position coordinates (for example, one distance and two angle measurements), the position of a point on the ground can be determined. A sensor 325 can generate distance and angle data for various ground points. In some embodiments, sensor 325A also generates measurement data indicative of the height of plants growing in the field. In other words, the measurement data can indicate the positions of the tops of the plants.

[0077] A sensor 325 can be oriented to generate measurement data for points on the ground in front of an agricultural machine component 300, such as a beam 320, body 310 or a locomotion mechanism 330. For example, sensor 325A can be oriented forward (along the direction of travel) and downward to generate measurement data for ground points in front of beam 320A. This is further described with reference to Figs. 4A to C. In another example, sensor 325C can be oriented to detect the height of ground points in front of the locomotion mechanism 330. Example sensors 325 include a LIDAR sensor, a sensor (for example, a stereo camera or a single camera with depth identification algorithms), an ultrasonic sensor and a radiofrequency sensor. Multiple 325 sensors in different locations can be used together to increase ground detection accuracy. For example, agricultural machine 300 may further include a body mounted sensor 310 and oriented to have a detection area in front of beam 320A and overlapping a detection area of sensor 325A.

[0078] In some embodiments, the agricultural machine 300 additionally includes an IMU (inertial measurement unit) sensor, a potentiometer sensor or a GNSS (global navigation satellite system) tracker (for example, a GPS tracker). An IMU sensor or potentiometer sensor can be used to detect (e.g. confirm) movement of beam 320 or body 310. A GNSS tracker can be used to generate GNSS position coordinates of the field (e.g. on a global or regional basis) . Control system 130 may associate data from other sensors with these position coordinates.

[0079] The actuator system 315 includes one or more actuators to control the positions of the beams 320 relative to the body 310. This can result in changing the height of a beam relative to the ground. Example actuators include hydraulic, pneumatic, and electric actuators. Triggers can be rotational or translational triggers. In the examples of figures 3B and 3C, the drive system 315 rotates the beams (indicated by the arrows), but other position adjustments are possible depending on the configuration of the drive system. For example, the drive system 315 can raise or lower the entire beam 320 equally. Generally, the drive system raises and lowers the beams 320. However, the drive system 315 can move the beams 320 along other directions, such as forwards or backwards. Movement along these additional directions can also be used to prevent beam 320 from hitting the ground. Drive system 315 can be characterized by its drive authority for each beam 320. Drive authority is a measure of how fast the system can move a beam 320 in response to receiving control instructions (e.g., from control system 130 ). Driver authority is based on an inertia of a beam 320 and any components coupled to the beam 320.

[0080] The control system 130 (not shown in figures 3A to 3C) uses the driver system 315 and data from the sensors 325 to adjust the position of each beam 320. For example, the control system 130 executes a control algorithm and transmits control instructions from the driver to the 315 driver system. Note that adjusting the position of a beam can be considered a farming action.

[0081] Thus, heights can be dynamically and proactively adjusted as the farm machine 300 moves through the field. For example, a beam 320 is elevated to reduce the risk of the beam 320 (or a component attached to the beam) hitting an object in the field or hitting the ground (for example, if the ground height changes rapidly). Adjusting the beam position can also provide other advantages. For example, a beam position is adjusted so that a treatment mechanism mounted on the beam 320 is at a desired height to perform agricultural operations even if the soil under the agricultural machine 300 changes.

[0082] In figure 3A, the ground is relatively flat. Thus, the beams 320 are perpendicular to the body 310 and in a horizontal position. In Figure 3B, the field includes obstacles 340 on the left and right sides of the agricultural machine 300. As the agricultural machine 300 moves towards the obstacles 340, they can be detected (e.g. using data from sensors 325A and 325B) . In response, drive system 315 lifts each beam 320 (as indicated by dashed arrows) to prevent beams 320 from hitting obstacles 340. Control system 130 can control each beam 320 independently. For example, as illustrated in Figure 3B, the drive system 315 raises the beam 320A higher than the beam 320B, since the obstacle 340A is higher than the obstacle 340B.

[0083] In Figure 3C, the right locomotion mechanism 330 (eg, wheel) is in a ditch 345. Thus, the agricultural machine 300 is tilted to the right as it moves across the field along the ditch 345. Before farm machine 300 moves into the trench 345, the control system 130 can detect the trench 345 (e.g., using data from sensor 325C) and determine that the farm machine 300 will tilt. In response, drive system 315 raises beam 320B and lowers beam 320A, as indicated by dashed arrows. This prevents beam 320B from hitting the ground and allows beam 320A to maintain a target beam height above the ground (for example, so that a treatment mechanism can continue to farm in the field). If the agricultural machine includes an IMU sensor or potentiometer sensor, the control system 130 can also detect the body tilt and adjust the beams accordingly (for example, if the control system 130 did not detect the ditch 345 using data from the sensor 325C).

[0084] Figure 4A illustrates a cross-sectional view of the sensor 325A and the beam 320A of the agricultural machine 300, according to one embodiment. In this example, sensor 325A is attached to the top of beam 320 and is oriented along a forward and downward direction. The sensor 325A can be attached to other parts of the beam 320A, such as the bottom. Figure 4A also illustrates strike points 410A to 410F. As described above, sensor 325A generates data indicative of angles and distances 420 for a set of ground points. Stated another way, the 325A sensor samples the terrain profile of the field at ground points. Because sensor 325A faces forward, ground points 410 are in front of beam 320A along direction of travel 115. Sensor data can be generated for additional or fewer ground points 410 than those illustrated. For example, Figure 4A illustrates six havoc points. However, in other embodiments, the sensor data can be generated for more hit points, such as 10, 15 or 20. Generating measurement data for a plurality of hit points (e.g., instead of just one hit point) desolation) can provide a greater understanding of terrain variability. In some embodiments, the sensor 325A generates data for ground points in front of other parts of the beam 320A (eg, along an axis perpendicular to the direction of travel 115). For example, see figures 4B and 4C. In some embodiments, the strike points 410 are at the front of the beam along the entire portion of the beam. The detection area may also be larger or smaller than illustrated. For example, sensor 325A can generate data for ground points directly below sensor 325A.

[0085] The distances 420 are determined by analyzing the measurement data (eg extracting distances from an image or a pair of images). This analysis can be performed by sensor 325A or control system 130. For brevity, the remaining description assumes that sensor 325A determines distances 420. If sensor 325A is a LIDAR sensor, it can determine a distance 420 by targeting a target point. ground 410 with a laser and measuring the time for the reflected light to return to sensor 325A. In another example, sensor 325A includes one or more image sensors and analyzes the captured images to determine a distance 420.

[0086] Depending on the type and orientation of the sensor, the sensor data may indicate distances 420 to ground points 410 that are zero to five or ten (or more) meters in front of the sensor 325A. In some embodiments, one or more soil points 410 are at least half a meter in front of the sensor 325A, however, this limit distance may depend on the speed of the agricultural machine 300, the latency of the control system 130 and the authority of the triggering system. 315. Determining distances 420 to ground points 410 at or beyond this threshold distance allows beam 320A to be proactively positioned to avoid obstacles and reach the ground. If all strike points are less than this threshold distance, control system 130 or drive system 315 may not have enough time to safely position beam 320A. For example, if the sensors on an agricultural machine are oriented directly downwards (for example, they only capture distances to points on the ground directly below the beam), then the system may not have enough time to react (for example, if the height of the ground increases or if the course includes an obstacle).

[0087] Figures 4B to 4C illustrate a sample plating dot pattern for a sensor 325 (e.g., a LIDAR sensor), in accordance with one or more example embodiments. The graph represents a ground dot pattern for a 325 sensor at a height of two meters above the ground. The sensor has a vertical field of view of +/-45 degrees and a horizontal field of view of +/-80 degrees. The sensor is tilted downwards by 55 degrees.

[0088] Each data point represents a ground point seen from a top view (for example, the xz plane in the coordinate system of figure 4A). The vertical line ranging from the point (0, 5) to (0, -5) represents the location of a beam 320 (eg beam 320A). The x and y axes of the graph represent the distance (in meters) from the sensor location (the sensor is located at the point (0,0)). The density of the data points is greatest around the point (0.0) and decreases with distance from the point (0.0). Figure 4C is an enlarged graphic of figure 4B and illustrates details close to one end of the beam. As shown by Figures 4B to 4C, a sensor 325 can create measurement data for ground points in an area in front of and behind the beam 325 (eg, depending on the location, orientation and field of view of the sensor).

[0089] The control system 130 can use the distance and angle data to determine what the height of the beam 320A will be when it passes through the ground points 410 (assuming the position of the beam or height of the beam does not change). If beam 320A is below a threshold height value for a given ground point (e.g., point 410F), control system 130 can adjust (via drive system 315) the position of beam 320A so that beam 320A stays above the threshold value when the beam passes over the ground point (eg point 410F).

[0090] In some embodiments, the control system 130 determines the target heights for the ground points 410. A target height indicates where the beam 320A should be located (for example, within an error limit) when the beam (or another component) passes over the corresponding crash point (e.g. to avoid a collision with the ground). Each target height is associated with a ground point 410. The control system 130 may determine a target height 510 for each ground point 410.

[0091] Figure 5 illustrates examples of target heights 510A to 510F corresponding respectively to ground points 410A to 410F in Figure 4A. Target heights 510A and 510B are similar to the height of the current beam 335. Thus, the position of the beam relative to body 310 can remain constant as beam 320 passes over ground points 410A and 410B (e.g., assuming that the ground below the locomotion mechanism 330 is flat). To avoid a collision with the ground, target heights 510C to 510F may result in the drive system 315 raising beam 320A before passing over ground points 410C to 410F.

[0092] A target height 510 can be determined based on the measurement data, a ground height variability (for example, a value that indicates how often or strongly the ground height changes), the detection distance of the sensor 325A (e.g. range of sensor 325A), speed of farm machine 300, authority of drive system 315, crop growing in field, height of crop growing in field, or a type of treatment mechanism 120 coupled to beam 320A . For example, a target height 510 can be determined so that a treatment mechanism 120 can perform agricultural actions on specific parts (e.g., tops) of plants growing in the field. In another example, the control system 130 determines target heights 510 that are possible given the sensing distance, the speed of the farm machine, and the authority of the drive system 315. If the drive system is moving quickly, the drive system 315 may not being able to make a big change in beam position before a point on the ground is passed. In this case, the control system 130 can determine target heights that correspond to small changes in beam position.

[0093] The control system 130 can trigger the driver system 315 based on the measurement data and a target height 510 so that the beam 320A has a height 335 equal to a target height 510 before passing over the corresponding ground point . Practically, it may be difficult for the height of the beam 335 to be exactly equal to the height of the target 510. Thus, the height of the target 510 may be a lower bound (for example, the height of the beam 335 is equal to or greater than the height of the target 510) or the height of the beam 335 can be equal to the target height 510 within an error value (e.g. 10%) (the error value can be referred to as a distance threshold).

[0094] In some embodiments, the control system 130 triggers the drive system 315 so that the beam 320A has a height 335 equal to each target height 510 before another component of the agricultural machine passes over the corresponding soil points 410. For example, referring to Figure 3C, the control system 130 can adjust the position of the beam before the travel mechanism 330 or body 310 passes a ground point in the trench 345.

[0095] To reach a target height 510, the control system 130 can trigger the driver system 315 as quickly as possible. If several target heights 510 are in a row, the control system 130 may begin to adjust the beam 320A to the next target height 510 once the beam 320A passes an actual ground point 410. The control system 130 also it can take into account the authority of the drive system 130 and the speed of the agricultural machine. For example, for a given speed, the control system 130 may begin to adjust a beam position so that the driver system 315 has sufficient time to adjust the beam to the target height 510 before the beam passes over the corresponding ground point 410 In some embodiments, the control system 130 takes into account other possible limitations, such as driver nonlinearities, transmission delays between the control system 130 and the driver system 315, machine modeling errors, physical stresses in the beam 320 and components coupled to the beam and excitation of possible non-modeled flexibility modes.

[0096] In some cases, the height from the ground may change quickly (for example, due to rough terrain or the agricultural machine is moving quickly). In such cases, the control system 130 may not be able to avoid collisions with the ground. Thus, the control system 130 can raise one or more of the beams 320 to a safety position that is likely to avoid collisions with the ground (eg, the highest position). For example, if the ground height variability exceeds a threshold variability value, the control system 130 raises a beam 320 to the safety position. The control system 130 can do this even if the position renders the treatment mechanisms 120 on the beams 320 unable to perform agricultural actions. Additionally, or alternatively, the control system 130 can slow down the farm machine 300 or send display instructions to a manager to slow down the farm machine 300.

[0097] In some embodiments, the control system 130 uses a model predictive control (MPC) method to provide control instructions to the driver system. The system model can be developed by dynamic analysis, from first principles, system identification or machine learning. With MPC, at each step for a forecast horizon (eg, N time steps into the future), the control system 130 can solve a nonlinear optimization (NLP) problem with equality and inequality constraints. The solution to this optimization problem can provide a sequence of control actions (eg, instructions) that are consistent with the capabilities of the drive system 315 and that account for disturbances due to terrain in the field. NLP can be resolved repeatedly at each subsequent step. This MPC method can allow the control system 130 to respond quickly and appropriately as new terrain appears. In alternative embodiments, control system 130 can use an LQR (linear-quadratic regulator) to weigh a set of sampled terrain measurements (e.g., a set of measurement data).

[0098] In some embodiments, the control system 130 generates a terrain map of the field based on the generated distance and angle data and GNSS position coordinates. A terrain map indicates changes in ground height in the field. Terrain map generation can include converting the coordinate frame of the distance and angle data to the field coordinate frame. Figure 6 illustrates an example terrain map 600. In this case, the terrain map 600 is a contour map, however, other types of maps can be generated. If a terrain map was previously generated, the control system 130 can use the terrain map as the farm machine moves through the field. For example, control system 130 can adjust beam position based on a terrain map (in addition to or alternative to sensor data and target heights). Additionally, or alternatively, control system 130 can generate a crop height map that indicates the heights of plants growing in the field. Crop height can be generated using distance and angle data that indicate the heights of plants in the field.

[0099] Figure 7 illustrates a method 700 for adjusting a beam of an agricultural machine moving across a field, according to an example embodiment. One or more steps of method 700 may be performed by control system 130. Method 700 may include additional or fewer steps than those described herein. Also, the steps may be performed in a different order or by components other than those described in this document.

[00100] An agricultural machine moves 705 across a field. The agricultural machine includes an actuatable beam (e.g., mounting mechanism 140) extending away from an agricultural machine body and an actuator system configured to control a position of the actuatable beam relative to the agricultural machine body. A sensor system generates 710 measurement data indicating distances and angles between the sensor system and ground points in the field. Ground points are at least a threshold distance in front of an agricultural machine component (for example, the beam or a locomotion mechanism). The control system determines 715 a target actionable beam height for each ground point. The control system adjusts 720, via the drive system, the position of the drive beam based on the measurement data and target drive beam heights as the farm machine moves toward the ground points. An actionable beam height relative to the ground is within a second threshold distance of a target actionable beam height corresponding to each ground point before the component passes over each ground point.

SAW. CONTROL SYSTEM

[00101] Figure 8 is a block diagram illustrating components of an example machine for reading and executing instructions from a machine-readable medium, in accordance with one or more example embodiments. Specifically, Figure 8 shows an example schematic representation of the server system 440 in exemplary form of a computer system 800. Figure 8 may be applicable to the control system 130. The computer system 800 may be used to execute instructions 824 (e.g., program code or software) to cause the machine to perform any one or more of the methodologies (or processes) described herein. In alternative embodiments, the machine operates as a standalone device or a connected (eg, networked) device that connects to other machines. In a networked deployment, the machine can operate in the capacity of a server machine or a client machine in a client-server network environment, or as a peer-to-peer machine in a peer-to-peer (or distributed) network environment.

[00102] The machine can be a server computer, a client computer, a personal computer (PC), a tablet PC, a set-top box (STB), a smartphone, an internet of things (IoT) device, a network router, switch or bridge, or any machine capable of executing 824 instructions (sequential or otherwise) that specify actions to be taken by that machine. Furthermore, although only a single machine is illustrated, the term "machine" should also be considered to include any collection of machines that individually or together execute the 824 instructions to execute any one or more of the methodologies discussed in this document.

[00103] The example computer system 800 includes one or more processing units (generally processor 802). Processor 802 is, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a control system, a state machine, one or more integrated circuits. application-specific circuits (ASICs), one or more radio frequency integrated circuits (RFICs), or any combination thereof. Computer system 800 also includes main memory 804. Computer system may include storage unit 816. Processor 802, memory 804, and storage unit 816 communicate over a bus 808.

[00104] In addition, the computer system 800 may include a static memory 806, a graphic display 810 (for example, to drive a plasma display panel (PDP), a liquid crystal display (LCD) or a projector) . Computer system 800 may also include an alphanumeric input device 812 (e.g., a keyboard), a cursor control device 88 (e.g., a mouse, trackball, joystick, motion sensor, or other pointing instrument) ), a signal generation device 818 (e.g., a loudspeaker), and a network interface device 820, which are also configured to communicate over the bus 808.

[00105] The storage unit 816 includes a machine-readable medium 822 on which instructions 824 (e.g., software) incorporating any one or more of the methodologies or functions described herein are stored. Instructions 824 may also reside, completely or at least partially, within main memory 804 or within processor 802 (e.g., within a processor's cache memory) during their execution by computer system 800, main memory 804, and the 802 processor also constituting machine-readable media. Instructions 824 may be transmitted or received over a network 826 via network interface device 820.

VII. ADDITIONAL CONSIDERATIONS

[00106] In the above description, for the purpose of explanation, several specific details are presented to provide a complete understanding of the illustrated system and its operations. It will be apparent, however, to one skilled in the art that the system can be operated without these specific details. In other cases, structures and devices are shown in block diagram form to avoid obscuring the system.

[00107] The reference in the descriptive report to “a modality” or “a modality” means that a certain resource, structure or characteristic described in connection with the modality is included in at least one modality of the system. Appearances of the phrase “in one modality” in various places in the specification do not necessarily refer to the same modality.

[00108] Some parts of the detailed descriptions are presented in terms of algorithms or models and symbolic representations of operations on bits of data within a computer memory. An algorithm is here and generally conceived of as steps leading to a desired result. Steps are those that require physical transformations or manipulations of physical quantities. Typically, though not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It has proved convenient at times, mainly for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like.

[00109] It should be borne in mind, however, that all these and similar terms must be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. Unless specifically noted otherwise, as evident in the discussion that follows, it is understood that throughout the description, discussions using terms such as "processing" or "computation" or "calculation" or "determination" or "display ” or similar, refers to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the registers and memories of the computer system into other similarly represented data as physical quantities within computer system memories or registers or other such information storage, transmission or display devices.

[00110] Some of the operations described here are performed by a computer (for example, physically mounted inside a machine 100). This computer may be specially constructed for the required purposes, or it may comprise a general purpose computer selectively activated or reconfigured by a computer program stored on the computer. Such computer program may be stored on a computer-readable storage medium, such as, but not limited to, any type of disk, including floppy disks, optical disks, CD-ROMs and magnetic optical disks, read-only memories (ROMs), memory random access (RAM), EPROMs, EEPROMs, magnetic or optical cards, or any type of non-transient computer-readable storage medium suitable for storing electronic instructions.

[00111] The figures and description above refer to various modalities for illustration purposes only. It should be noted that from the discussion that follows, alternative embodiments of the structures and methods disclosed herein will be readily recognized as viable alternatives that can be employed without departing from the principles of what is claimed.

[00112] One or more modalities have been described above, examples of which are illustrated in the attached figures. Note that, where possible, like or similar reference numbers may be used in the figures and may indicate like or similar functionality. The figures represent embodiments of the system (or method) disclosed for purposes of illustration only. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles described herein.

[00113] Some modalities can be described using the expression “coupled” and “connected” together with their derivatives. It should be understood that these terms are not synonymous with each other. For example, some embodiments may be described using the term "connected" to indicate that two or more elements are in direct physical or electrical contact with each other. In another example, some embodiments may be described using the term "coupled" to indicate that two or more elements are in direct physical or electrical contact. The term “coupled”, however, can also mean that two or more elements are not in direct physical or electrical contact with each other, but still cooperate or interact with each other. Modalities are not limited in this context.

[00114] As used in this document, the terms “comprises”, “comprising”, “includes”, “including”, “has”, “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article or apparatus comprising a list of elements is not necessarily limited to those elements only, but may include other elements not expressly listed or inherent in such process, method, article or apparatus. In addition, unless expressly stated otherwise, “or” refers to an inclusive or and not to an exclusive or. For example, a condition A or B is satisfied by any of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present).

[00115] In addition, the use of "one" or "one" is employed to describe elements and components of the modalities contained herein. This is done for convenience only and to give you a general sense of the system. This description should be read to include one or at least one and the singular also includes the plural, unless it is obvious that otherwise is intended.

[00116] While reading this disclosure, those skilled in the art will appreciate even further alternative structural and functional designs. Thus, while particular embodiments and applications have been illustrated and described, it is to be understood that the disclosed embodiments are not limited to the precise construction and components disclosed herein. Various modifications, changes and variations, which will be apparent to those skilled in the art, may be made in the arrangement, operation and details of the method and apparatus disclosed herein without departing from the spirit and scope defined in the appended Claims.

Claims (20)

Agricultural Machine, configured to move across a field, the agricultural machine characterized by comprising:
an actionable beam extending away from an agricultural machine body; an actuator system configured to control a position of the actuatable beam relative to the agricultural machine body;
a sensor system configured to generate measurement data indicative of distances between the sensor system and points on the ground in the field at least a first threshold distance in front of an agricultural machine component; It is
a control system configured to:
receive the measurement data from the sensor system;
determine a target actionable beam height for each ground point; It is
drive the drive system to adjust the position of the drive beam based on measurement data and target drive beam heights as the farm machine moves toward ground points, where a drive beam height relative to the field is within a second threshold distance of the corresponding target active beam height from each ground point before the component passes over each ground point. Agricultural Machine, according to Claim 1, characterized by the fact that the first limit distance is at least 0.5 meters in front of the component. Agricultural Machine, according to Claim 1, characterized in that the sensor system is oriented along a forward and downward direction. Agricultural Machine, according to Claim 1, characterized in that the control system is configured to determine a target actionable beam height based on a detection distance of the sensor system, a speed of the agricultural machine moving across the field and a trigger authority from the trigger system. Agricultural Machine, according to Claim 1, characterized in that the control system is configured to determine a target actionable beam height based on at least one of: a crop in the field, a crop height in the field, a treatment coupled to the actionable beam, or a variability of height from the ground. Agricultural Machine, according to Claim 1, characterized in that the sensor system is further configured to generate measurement data indicative of a height of a crop in the field. Agricultural Machine, according to Claim 1, characterized in that the control system is further configured to, in response to a variability in height from the ground that exceeds a threshold variability value, raise the actionable beam to a predetermined safety position. Agricultural Machine, according to Claim 1, characterized in that the component is the actionable beam or a locomotion mechanism of the agricultural machine. Agricultural Machine, according to Claim 1, characterized in that the sensor system is coupled to the actionable beam or to the body of the agricultural machine. Agricultural Machine, according to Claim 1, characterized in that the sensor system includes a LIDAR sensor (light detection and range). Agricultural Machine, according to Claim 10, characterized in that the sensor system includes an IMU sensor (inertial measurement unit) or a potentiometer sensor. Method, characterized in that it comprises:
moving, by an agricultural machine, across a field, the agricultural machine including an actuatable beam extending away from an agricultural machine body and an actuator system configured to control a position of the actuatable beam relative to the agricultural machine body;
generating, by a sensor system, measurement data indicative of distances between the sensor system and points on the ground in the field at least a threshold distance in front of a component of the agricultural machine;
determine a target actionable beam height for each ground point; It is
adjust, via the drive system, the position of the drive beam based on the measurement data and target drive beam heights as the farm machine moves towards the ground points, where a drive beam height relative to the field is within a second threshold distance from the height of the target actionable beam corresponding to each ground point before the component passes over each ground point. Method, according to Claim 12, characterized in that the limit distance is at least 0.5 meters in front of the actionable beam. Method according to Claim 12, characterized in that the sensor system is oriented along a forward direction and a downward direction. Method, according to Claim 12, characterized in that a target actuable beam height is determined based on a detection distance of the sensor system, a speed of the agricultural machine moving through the field and an authority of the actuator of the actuating system . Method, according to Claim 12, characterized in that a target actionable beam height is determined based on at least one of: a crop in the field, a height of the crop in the field, a treatment mechanism coupled to the actionable beam or a soil height variability. Method, according to Claim 12, characterized in that it further comprises generating, by the sensor system, measurement data indicative of a height of a crop in the field. Method according to Claim 12, characterized in that it further comprises, in response to a ground height variability that exceeds a threshold variability value, raising the actionable beam above a predetermined safety position. Method, according to Claim 12, characterized in that the component is the actionable beam or a locomotion mechanism of the agricultural machine. Non-Transient Computer Readable Storage Medium, comprising stored instructions that, when executed by a computing system, cause the computing system to perform operations including:
moving, by an agricultural machine, across a field, the agricultural machine including an actuatable beam extending away from an agricultural machine body and an actuator system configured to control a position of the actuatable beam relative to the agricultural machine body;
generating, by a sensor system, measurement data indicative of distances between the sensor system and points on the ground in the field at least a threshold distance in front of a component of the agricultural machine;
determine a target actionable beam height for each ground point; It is
adjust, via the drive system, the position of the drive beam based on the measurement data and target drive beam heights as the farm machine moves towards the ground points, where a drive beam height relative to the field is within a second threshold distance from the height of the target actionable beam corresponding to each ground point before the component passes over each ground point.

Images