A system comprising an autonomously driving vehicle, an underlying surface and a strip body which is fitted to the underlying surface

Abstract

In a system (100) comprising an autonomously driving agricultural vehicle (1), an underlying surface (18) and a strip body (19), the design of the strip body differs from a standard design with a flat top side. The strip body (19) is fitted to the underlying surface in order to indicate a path over the underlying surface that should be followed by the agricultural vehicle. In particular, the strip body is configured to reflect incident light at a detection region (21) thereof, and the agricultural vehicle is equipped with an optical detection mechanism (20) to perceive the detection region. The detection region has a bent form transverse to a length direction of the strip body. The detection region may, for example, be provided with at least one longitudinal bend line (22, 23), or be convexly curved. In this way, the desired path is reliably followed by the agricultural vehicle (1).

Description

[0001] A system comprising an autonomously driving vehicle, an underlying surface and a strip body which is fitted to the underlying surface

[0002] The invention relates to a system comprising an autonomously driving agricultural vehicle, an underlying surface and a strip body which is fitted to the underlying surface for the purpose of indicating a path over the underlying surface that should be followed by the autonomously driving agricultural vehicle, wherein the strip body is in any case configured to reflect incident light at a detection region thereof, and wherein the autonomously driving agricultural vehicle is equipped with an optical detection mechanism to perceive the detection region.

[0003] An autonomously driving agricultural vehicle is known per se. WO 2021 / 242102 A1 discloses an autonomous, unmanned device with a storage space, which is used to automatically harvest feed crop in a part of a field, automatically load the harvested feed crop into the storage space, automatically fertilize said part of the field, automatically transport the feed crop from the field to a destination location, and automatically unload harvested feed from the storage space at the destination location. A practical example of such a destination location is a feeding station for animals in a barn. The device is therefore intended to drive both inside and outside.

[0004] In practice, different techniques are known for making an autonomously driving agricultural vehicle that moves itself follow an appropriate path. A known technique comprises the use of an optical detection mechanism which is configured to perceive a marking, in particular a marking which serves to define a path for the agricultural vehicle over an underlying surface. A strip body which is fitted to the underlying surface is an example of such a marking. Such a strip body may, for example, be painted red, and the optical detection mechanism of the autonomously driving agricultural vehicle may comprise an RGB camera which can be used to perceive the strip body. In any case, the agricultural vehicle can be moved in a predefined manner over the underlying surface on the basis of feedback from the optical detection mechanism to a control unit regarding the positioning of the strip body.

[0005] In the practical use of a system comprising an autonomously driving agricultural vehicle, an underlying surface and a strip body on the underlying surface, the perception of the strip body by the optical detection mechanism can still be disrupted. This can lead to an undesired standstill of the agricultural vehicle or to a situation in which the agricultural vehicle follows an incorrect path. It is an object of the invention to prevent this in a simple manner, without the need for expensive measures such as the improvement of the optical detection mechanism. According to the invention, a solution is surprisingly found in the adaptation of the design of the strip body. In particular, the invention provides a system comprising an autonomously driving agricultural vehicle, an underlying surface and a strip body which is fitted to the underlying surface for the purpose of indicating a path over the underlying surface that should be followed by the autonomously driving agricultural vehicle, wherein the strip body is in any case configured to reflect incident light at a detection region thereof, wherein the autonomously driving agricultural vehicle is equipped with an optical detection mechanism to perceive the detection region, and wherein the detection region has a bent form transverse to a length direction of the strip body.

[0006] A flat design of the strip body is standard, with the result that the detection region is usually flat. However, when the invention is used, there is a deviation from this. For instance, in the context of the invention, an embodiment of the strip body in which the detection region is provided with at least one longitudinal bend line and has at least two reflection surfaces which are oriented differently in the strip body is conceivable. As a result of this, the strip body is capable of reflecting light, originating from a light source and incident on the strip body at the detection region, in at least two different directions. Another possible embodiment of the strip body is an embodiment in which the detection region is convexly curved transverse to the length direction of the strip body.

[0007] It has been shown in practice that perception of the strip body by the optical detection mechanism of the autonomously driving agricultural vehicle can be hindered as a result of reflection of ambient light such as sunlight on the detection region of the strip body. In such a situation, in the case of a coloured strip body the colour may not be perceived, rather the detection region appears to be completely white. What is achieved by providing the detection region with a bent form and thus preventing the detection region from being characterized by only a single reflection surface is that at least one portion of the detection region is visible under all light conditions.

[0008] Within the context of the invention, there are various ways in which the strip body can be designed. For instance, an embodiment in which the detection region is provided with a single longitudinal bend line and the strip body is generally in the form of a gable roof is conceivable. In this embodiment, it may be practical if, as seen from the underlying surface, the reflection surfaces extend with respect to each other at an angle in a range from 150° to 175°. It will then always be possible to perceive one of the two reflection surfaces. A slightly more complex embodiment may be obtained if the detection region is provided with two longitudinal bend lines and the strip body comprises a middle portion with an obliquely oriented side portion on both sides. In that case, it will in particular always be possible to perceive a reflection surface of one of the side portions. If the number of bend lines in the detection region is two or more, this has the advantage that the middle of the detection region can be better defined, which is beneficial for the accuracy of the navigation of the agricultural vehicle over the underlying surface. In such cases, it is specifically the case that the portion of the detection region that is potentially not perceivable as a result of light reflection is smaller.

[0009] In view of the possible design of the detection region with at least one longitudinal bend line, it may be practical if the strip body is provided as a piece of bent metal, and in view of the possible convexly curved design of the detection region, it may be practical if the strip body is provided as a piece of metal bent into a semicircle. The strip body may, for example, be a strip of stainless steel. Using metal has the advantage that the strip body is very robust, which is particularly desirable in view of the position of the strip body on the underlying surface. Other possible suitable materials for the strip body are concrete and plastic. In the case of the use of metal, a manufacturing process for the strip body comprises providing a base strip and subjecting this base strip to one or more bending operations, whereas in the case of the use of concrete or plastic, a manufacturing process for the strip body comprises an appropriate casting process. The strip body may in any case be provided with a paint layer at the detection region. The paint layer preferably has a colour which contrasts well with the colour of the light that is incident on the strip body. Assuming that the light is white, the aforementioned red is a suitable colour for the strip body, or for example green or blue. In the case of the use of plastic, the plastic can be provided in the appropriate colour, such that paint is not necessary.

[0010] It is also practical if the strip body is anchored on the underlying surface. This can be achieved in various ways, for example using fastening means such as screws. The underlying surface may be inside or outside, and may for example be a barn floor. As suggested above, the optical detection mechanism of the autonomously driving agricultural vehicle may comprise an RGB camera. Another possibility is that the optical detection mechanism comprises a light sensor.

[0011] The invention is not limited to a specific use of the agricultural vehicle. Thus, not only the context of a barn is conceivable, but for example also the context of a greenhouse which the agricultural vehicle drives into and out of during use. A greenhouse floor is therefore another practical example of an underlying surface to which the strip body can be fitted. In practical cases, the strip body will be positioned so as to be able to lead the agricultural vehicle to a loading station. In the case of such a destination, it is important that said destination can be reached in an accurate manner by the agricultural vehicle. As explained in the foregoing, use of the invention makes it possible to ensure this is the case under all light conditions. The path defined by the strip body can lead to a single destination location with a plurality of destinations such as a loading station and a feeding station for animals.

[0012] The invention will be explained below on the basis of the figures which are generally schematic and relate to non-limiting exemplary embodiments of an autonomously driving agricultural vehicle and a strip body on an underlying surface that is followed by the agricultural vehicle when the agricultural vehicle is moving, with identical reference numerals denoting identical or similar components, and in which: Figure 1 schematically shows a front side of the agricultural vehicle;

[0013] Figure 2 schematically shows a rear side of the agricultural vehicle;

[0014] Figure 3 schematically shows the agricultural vehicle at a destination location in a barn, and also a portion of the strip body; and

[0015] Figures 4, 5, 6 and 7 illustrate four different possibilities for the design of the strip body.

[0016] Figure 1 schematically shows a front side of an autonomously driving agricultural vehicle 1 , and Figure 2 schematically shows a rear side of the agricultural vehicle 1 . The terms "front side" and "rear side" relate to a direction of forward travel of the agricultural vehicle 1 , as indicated by means of an arrow in Figure 1. The shown exemplary embodiment of the agricultural vehicle 1 is configured to perform various functions, including harvesting feed crop in a part of a field (not shown) and fertilizing said part of the field.

[0017] The agricultural vehicle 1 comprises a vehicle body 2 and wheels 3. On the front side, the agricultural vehicle 1 is provided with automatic feed-harvesting means 4. These feed-harvesting means 4 can be designed in any desired way, for example in the form of a mowing device as shown. The agricultural vehicle 1 further comprises automatic feed-loading means 5 for transferring harvested feed crop to a storage space 6 in the vehicle body 2. Means 7 for dispensing a manure mixture are fitted between the feedharvesting means 4 and the wheels 3. The means 7 for dispensing a manure mixture comprise, for example, a row of dispensing nozzles 8 located on a dispensing bar 9. As seen in the direction of forward travel of the agricultural vehicle 1 , the dispensing nozzles 8 are positioned behind the feed-harvesting means 4 and in front of the wheels 3. This prevents soil and feed crop from being able to be flattened by the wheels 3, which is beneficial, inter alia, for the effectiveness of fertilization of the soil. What is not shown are drive means for the agricultural vehicle 1 and a computer or another control unit for controlling the agricultural vehicle 1 . Such a computer or other control unit may be located in the agricultural vehicle 1 , but it is also possible for it to be arranged elsewhere and to be able to communicate with the agricultural vehicle 1 via an antenna 10 on the agricultural vehicle 1 .

[0018] On the rear side, the agricultural vehicle 1 is provided with a manure-mixture tank 11 suitable for containing a manure mixture. A volume of the manure-mixture tank 11 is, for example, 100 litres. The manure-mixture tank 11 is connected to a hopper 12 which, under normal conditions, is covered by an inlet cover element 13 that is hingeably fastened to the vehicle body 2. A connector 14 that has a function in the electrical charging of one or more batteries (not shown) of the agricultural vehicle 1 is also provided on the rear side of the vehicle body 2. It is conceivable for the agricultural vehicle 1 to comprise drive means other than said one or more batteries, such as a combustion engine. What is not shown is that means for automatically unloading and / or dispensing harvested feed crop at a destination location are furthermore also provided on the rear side of the agricultural vehicle 1 .

[0019] The right-hand side of Figure 2 shows elements that are suitable for interaction with elements on the rear side of the agricultural vehicle 1. First, there is an electrical charging means 15 which serves to charge the one or more batteries of the agricultural vehicle 1 in combination with the connector 14. A filling element 16 is configured to flip the inlet cover element 13 up and to supply a manure mixture to the manure-mixture tank 11 .

[0020] The agricultural vehicle 1 is configured to automatically transport harvested feed crop from a field to a destination location, and to automatically unload the harvested feed crop from the storage space 6 at the destination location. The destination location may be a feeding station for animals such as cows. The electrical charging means 15 and / or the filling element 16 may also be present at this destination location.

[0021] Figure 3 illustrates a system 100 of which the agricultural vehicle 1 forms part. This system 100 further comprises a barn 17 with a barn floor 18, and a strip body

[0022] 19 which is anchored on the barn floor 18. The strip body 19 defines a path over the barn floor 18 that should be followed by the agricultural vehicle 1 during movements through the barn 17. The agricultural vehicle 1 is provided with an optical detection mechanism

[0023] 20 which is configured to perceive the strip body 19 and is connected to the aforementioned computer or other control unit. The mentioned use of the strip body 19 offers a simple and robust possibility for making the agricultural vehicle 1 always take the correct path through the barn 17.

[0024] Based on the shown position of the agricultural vehicle 1 at the destination location with the electrical charging means 15 and the filling element 16, the procedure below may, for example, be carried out. First of all, at the destination location, the one or more batteries of the agricultural vehicle 1 are charged using the electrical charging means 15 and the manure-mixture tank 11 is filled with manure mixture using the filling element 16. Subsequently, wheels 3 of the agricultural vehicle 1 that are driven with electrical energy from the one or more batteries are set in motion such that the agricultural vehicle 1 moves from the destination location over the barn floor 18. The strip body 19 is perceived by means of the optical detection mechanism 20 and wheels 3 that have a function in the control of the agricultural vehicle 1 realize a state whereby the agricultural vehicle 1 is capable of following the strip body 19 as it travels. The agricultural vehicle 1 is controlled to move from the barn 17 to the outside, where the agricultural vehicle 1 is led to a field in order to harvest feed crop and to fertilize the soil in said field.

[0025] At a given time, the agricultural vehicle 1 is controlled to enter the barn 17 again. In the barn 17, the agricultural vehicle 1 follows the strip body 19 to reach the destination location. The agricultural vehicle 1 may drive in reverse or make a turn shortly before the destination location in order to reach the destination location by way of a rearwardly directed parking action. During the parking at the destination location, the connector 14 of the agricultural vehicle 1 comes into contact with the electrical charging means 15. The harvested feed crop is unloaded at the destination location. The manuremixture tank 11 may potentially be refilled by activation of the filling element 16.

[0026] The described procedure can be repeated over and over again. In this way, use of the described system comprising the agricultural vehicle 1 provides automatic harvesting of feed crop, automatic fertilization of the land on which the feed crop grows, automatic transportation of harvested feed crop to a defined destination location, and automatic unloading of the harvested feed crop at the destination location.

[0027] The strip body 19 is perceived from above by the optical detection mechanism 20 of the agricultural vehicle 1 . This means that a detection region 21 of the strip body 19 is located on a top side of the strip body 19. In order to ensure good perception of the detection region 21 by the optical detection mechanism 20 of the agricultural vehicle 1 and thus to ensure correct movements of the agricultural vehicle 1 over the barn floor 18, the design of the detection region 21 differs from a customary flat design. With reference to Figures 4 and 5, it is noted that the detection region 21 is provided with at least one longitudinal bend line 22, 23. Figure 4 shows an option with one bend line 22, the strip body 19 generally having a gable roof-like appearance. Figure 5 shows an option with two bend lines 22, 23, the strip body 19 comprising a middle portion 24 with an obliquely oriented side portion 25, 26 on both sides. The strip body 19 may comprise a piece of bent metal, it being practical for the number of bends in the metal to be one or two, as shown. It may also be favourable if the strip body 19 is provided, at least on a top side thereof, with a paint layer having a colour such as red, green or blue.

[0028] In both of the shown options for the design of the strip body 19, the detection region 21 comprises two reflection surfaces 27, 28 which are oriented obliquely with respect to the barn floor 18. In the case of the gable roof-like design, the strip body 19 may be practically mirror-symmetrical, and, as seen from the barn floor 18, the reflection surfaces 27, 28 may extend with respect to each other at an angle a in a range from 150° to 175°, such that an excessively sharp bend and an excessively great height of the strip body 19 are avoided.

[0029] The presence of the differently oriented reflection surfaces 27, 28 in the strip body 19 is favourable in view of the fact that it can happen in the case of a non-bent form of the detection region 21 that the detection region 21 is practically invisible for the optical detection mechanism 20. This undesired phenomenon is in that case caused by ambient light that reflects in a certain manner on the detection region 21 . What is achieved by the design of the strip body 19 with the at least one bend line 22, 23 is that it is always possible to perceive at least one reflection surface 27, 28 under all light conditions, such that deviation from a desired course for the agricultural vehicle 1 can be prevented. An additional advantage with respect to a non-bent form of the detection region 21 is related to a possible use of the strip body 19 in the open air, and means that the design of the strip body 19 according to the invention can be such that the detection region 21 can easily be cleaned whilst no (rain)water remains on the detection region 21 or in any case a portion thereof, such that contamination of the detection region 21 is counteracted. This also contributes to the prevention of disruption in the perception of the detection region 21 by the optical detection mechanism 20 of the agricultural vehicle 1 .

[0030] Alternatives to the design of the detection region 21 with at least one bend line 22, 23 are illustrated in Figures 6 and 7. The detection region 21 of the strip body 19 shown in these figures is convexly curved transverse to the length direction of the strip body 19. The detection region 21 may, for example, generally have the form of a semicircle, as can be seen in Figure 6. It is also possible for the detection region 21 to generally have the form of a semiellipse, as can be seen in Figure 7.

[0031] In the shown examples, the strip body 19 is formed as a bent strip with a more or less constant wall thickness, the design of the bottom side of the strip body 19 being similar to the design of the top side of the strip body 19, that is to say the design of the detection region 26. This is not essential in the context of the invention. It is therefore also possible for the bottom side of the strip body 19 to be bent differently than the top side of the strip body 19, or to be flat.

[0032] The shown barn floor 18 is only one of a number of possible examples of an underlying surface on which an agricultural vehicle 1 can drive.

[0033] The invention can be summarized as follows. In a system 100 comprising an autonomously driving agricultural vehicle 1 , an underlying surface 18 and a strip body 19, the design of the strip body 19 differs from a standard design with a flat top side. The strip body 19 is fitted to the underlying surface 18 for the purpose of indicating a path over the underlying surface 18 that should be followed by the agricultural vehicle 1. In particular, the strip body 19 is in any case configured to reflect incident light at a detection region 21 thereof, and the agricultural vehicle 1 is equipped with an optical detection mechanism 20 to perceive the detection region 21. The detection region 21 has a bent form transverse to a length direction of the strip body 19. The detection region 21 may, for example, be provided with at least one longitudinal bend line 22, 23, or be convexly curved. In this way, the desired path is reliably followed by the agricultural vehicle 1 .

Claims

CLAIMS1. System (100) comprising an autonomously driving agricultural vehicle (1 ), an underlying surface (18) and a strip body (19) which is fitted to the underlying surface (18) for the purpose of indicating a path over the underlying surface (18) that should be followed by the autonomously driving agricultural vehicle (1 ), wherein the strip body (19) is in any case configured to reflect incident light at a detection region (21 ) thereof, wherein the autonomously driving agricultural vehicle (1 ) is equipped with an optical detection mechanism (20) to perceive the detection region (21 ), and wherein the detection region (21 ) has a bent form transverse to a length direction of the strip body (19).

2. System (100) according to Claim 1 , wherein the detection region (21 ) is provided with at least one longitudinal bend line (22, 23) and has at least two reflection surfaces (27, 28) which are oriented differently in the strip body (19).

3. System (100) according to Claim 2, wherein the detection region (21 ) is provided with a single longitudinal bend line (22) and the strip body (19) is generally in the form of a gable roof.

4. System (100) according to Claim 3, wherein, as seen from the underlying surface (18), the reflection surfaces (27, 28) extend with respect to each other at an angle (a) in a range from 150° to 175°.

5. System (100) according to Claim 2, wherein the detection region is provided with two longitudinal bend lines (22, 23) and the strip body (19) comprises a middle portion (24) with an obliquely oriented side portion (25, 26) on both sides.

6. System (100) according to Claim 1 , wherein the detection region (21 ) is convexly curved transverse to the length direction of the strip body (19).

7. System (100) according to one of Claims 1 -5, wherein the strip body (19) is provided as a piece of bent metal.

8. System (100) according to Claim 6, wherein the strip body (19) is provided as a piece of metal bent into a semicircle.

9. System (100) according to one of Claims 1 -6, wherein the strip body (19) is manufactured from concrete or plastic.

10. System (100) according to one of Claims 1 -9, wherein the strip body (19) is in any case provided with a paint layer at the detection region (21 ).

11. System (100) according to one of Claims 1-10, wherein the strip body (19) is anchored on the underlying surface (18).

12. System (100) according to one of Claims 1-11 , wherein the underlyingsurface is a barn floor (18).

13. System (100) according to one of Claims 1-12, wherein the optical detection mechanism (20) of the autonomously driving agricultural vehicle (1 ) comprises an RGB camera or a light sensor.

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