A method to enable a human operator to have a piece of land cultivated, and a method and system for generating a cultivation plan

Abstract

The present invention pertains to a method to enable a human operator to have a piece of land cultivated, the method comprising providing an autonomous agricultural vehicle that is able to perform an agricultural operation, providing a processing unit to generate a cultivation plan for the piece of land, which plan comprises multiple distinct paths that spatially extend over the piece of land, e.g in parallel, in which plan the piece of land is divided into a headland section and a mainland section, providing input data to the processing unit, on the basis of which input data the processing unit calculates for the multiple distinct paths, a) the positioning of the paths on the piece of land and b) the direction in which the paths extend over the piece of land, and controlling the autonomous agricultural vehicle such that it autonomously crosses the land by moving over the said multiple distinct paths, while performing the agricultural operation in order to cultivate the piece of land, wherein in the method, before the agricultural vehicle is controlled to cross the land, the human operator is provided the option to determine that either the headland section or the mainland section are exclusively cultivated. The invention also pertains to a method and system for generating a cultivation plan for such an autonomous vehicle.

Description

[0001] A METHOD TO ENABLE A HUMAN OPERATOR TO HAVE A PIECE OF LAND CULTIVATED, AND A METHOD AND SYSTEM FOR GENERATING A CULTIVATION PLAN

[0002] GENERAL FIELD OF THE INVENTION

[0003] The present invention pertains to a method to enable a human operator to have a piece of land, in particular farmland, cultivated using an autonomous agricultural vehicle. In such a method a processing unit is used to generate a cultivation plan for the piece of land, which plan comprises multiple distinct paths that spatially extend over the piece of land, typically in parallel. Typically, the land is divided in to a headland section and a mainland section. The headland section being used mainly for turning around an agricultural vehicle during field operations, and the mainland section being the central (major) part of the land for cultivating, in particular for growing crops. After the plan has been generated, the autonomous agricultural vehicle is controlled (via the same or another processing unit) such that it autonomously crosses the land by moving over each of the said multiple distinct paths, while performing the agricultural operation in order to cultivate the piece of land. The invention also pertains to a method and system for generating a cultivation plan for an autonomous agricultural vehicle for cultivating a piece of land as described here above.

[0004] BACKGROUND ART

[0005] The adoption of technology in agriculture has improved the approaches that farmers use in the farmland nowadays. Modern agriculture has made it easy for farmers to achieve high produce while using less input, in particular less labour. According to the trends in the use of technology in agriculture, there are high concerns whether or not the future of agriculture is bright. For example, mechanization in agriculture has reduced the overuse of manpower in doing some of the farming activities. As a consequence, agricultural machines have become bigger and bigger and more dedicated towards performing one type of cultivation. The introduction of autonomous agricultural vehicles, such as an autonomous tractor that is operatively connected to an agricultural implement such as a plough, is considered a next step into the future of farming and it is expected that using autonomous vehicles there is more freedom to cultivate the land using even less labour.

[0006] Self-driving cars are common these days. Based on the trends in regards to the advancement of technology, it is expected that the technology will also be used on a wide scale for cultivating farmland. At present farmers in advanced countries are giving a tactical approach to how they plant, harvest, as well as maintain their crops. A good example of new tactical approaches is the use of autonomous vehicles in agriculture. The concept of autonomous vehicles (form now on also denoted as autonomous tractors) can be traced back prior to the introduction of the concept of precision farming in the eighties. During these days, farmers used GPS technology as a guide to the tractors driving across the farmland. The aim of such an approach was the reduction of fuel consumption and enhancing the efficiency of the tractors and the farming activities. As such, these initial steps formed the basis for the development of autonomous tractors, following the introduction of technologies that improved communication over wireless devices. Autonomous tractors employ much the same approach as the driverless vehicles, i.e. using advanced control systems and sensors. With the inclusion of auto-steering abilities, such tractors have added control abilities. Evidently, the launch of the autonomous tractors is considerably a manifestation of the extended use of this technology in farming.

[0007] Benefits to farmers are obvious. It is an undeniable fact that farming is not an easy undertaking, it involves working for long hours and the subscription to hard labour in harsh weather conditions. Taking into consideration the common state of farmers, the majority of them have no employees to task them in the farmland and hence, have to do everything all by themselves, the autonomous tractors obviously can be a positive outcome. Next to this, accuracy and precision are important aspects in agriculture in various aspects such as planting. All in all, the use of such tractors may lead to higher return on investment since accuracy is enhanced.

[0008] It is generally recognised that data plays a significant role in determining the farmers’ decisions. Usually, the absence of clear and reliable data can interfere with the decisions farmers make, and subsequently, have adverse impacts on the amount of outcome obtained from the fields. There are diverse sources and types of data that a farmer needs to succeed in their farming activities. For example, data on soil is important in that it helps farmers in determining what crops will do well in a given piece of land by establishing the moisture content, and the amount of nutrients. The autonomous vehicles are typically be fitted with various sensors that can be used in the collection of data on the conditions of the soil, and hence, offer a platform for improving the outcome of the available crops. The elimination of the human interaction in farming following the use of autonomous vehicles may thus be advantageous. Stressed employees cannot achieve the required efficiency level in the fields. Similarly, it is often hard for humans to manage diverse tasks on the farm especially where a large farmland is involved. Autonomous vehicles have the appropriate sensors to offer the necessary help in the management of a several tasks in the farmland hence reducing stress and the workload in the farm.

[0009] The autonomous agricultural vehicles run on high level technology that can be used in gathering high profile information. For example, some models have automatic steering abilities and GPS or GNSS technologies which enhance the control of the vehicles’ course. The advanced sensors come in handy in the determination of soil moisture level, activities around planting and harvesting, present yield, as well as the amount of fuel needed for a given area of land. Additionally, other models of autonomous vehicles can guide farmers on how to apply fertilizers.

[0010] Autonomous agricultural vehicles allow precise control of work and farm equipment by at least minimising or even ruling out human errors. It makes it possible for farmers to extend their working hours. The sensors fitted in the vehicles can guide it in the right course even in conditions of reduced visibility and at night: work continues even during windy, dusty, and foggy conditions. Additionally, the ability of the vehicles to reduce workload and stress on employees comes in handy in increased working hours in a day since the farmer has a greater flexibility in the management of growing tasks.

[0011] It has thus become a common understanding that the best way for using an autonomous vehicle is to establish a cultivation plan for the piece of land, which plan comprises generating multiple paths that spatially extend over the piece of land along particular coordinates, and after the plan has been generated, controlling the autonomous vehicle such that it crosses the land by moving over each of the multiple paths autonomously. Also, the way the actual agricultural implement (which may be part of the vehicle or coupled thereto) is operated (for example its driving speed, its height with respect to the land, its angle with respect to the land etc.), may be controlled autonomously, for example using the sensor technology to adapt the predetermined plan to the particular circumstances of the moment in time the land is actually cultivated. Such circumstances can for example be objects that were not present at the piece of land at the time the plan was made, the weather conditions, etc.

[0012] In particular US 2023 / 0255129 (assigned to Yanmar Holdings Co, ltd) discloses a processing unit that generates an inner work route on which an agricultural vehicle is caused to travel in an inner region of a field and a headland route on which the vehicle is caused to travel in a headland region around the inner region of the field. Specifically, it is disclosed that the processing unit is able to shift to a so called registration mode to register information necessary for the plan (i.e. route) generation. For this, the processing unit provides that a headland / mainland work overview is displayed on a display unit in the registration mode. The system provides a selection button K1 to select whether the headland section is to be worked by manual traveling or to be worked by automatic traveling, a selection button K2 to select a work direction of the work vehicle (“clockwise” or “counterclockwise”), a selection button K3 to select a work order (“inner work to headland work” or “headland work to inner work”), and a selection button K4 to select a priority mode (“prioritize work area” or “prioritize work result”).

[0013] This is a convenient and consistent way to determine which route the agricultural vehicle needs to take for cultivating the land, in particular to optimise the cultivation of the headland vs mainland sections, minimising or even excluding human interference and thus minimising operator time needed and potentially even excluding human error. This means operator interference and time is saved, which is the essence of having land cultivated autonomously.

[0014] OBJECT OF THE INVENTION

[0015] It is an object of the invention to devise an improved method for enabling a human operator to have a piece of land, in particular farmland, cultivated using an autonomous agricultural vehicle. SUMMARY OF THE INVENTION

[0016] In order to meet the object of the invention, a method as described here above in the General Field of the Invention section has been devised, the method comprising (as known from the prior art) providing an autonomous agricultural vehicle that is able to perform an agricultural operation, providing a processing unit to generate a cultivation plan for the piece of land, which plan comprises multiple distinct paths that spatially extend over the piece of land (e.g.in parallel), in which plan the piece of land is divided into a headland section and a mainland section, providing input data to the processing unit, on the basis of which input data the processing unit calculates for the multiple distinct paths, a) the positioning of the paths on the piece of land and b) the direction in which the paths extend over the piece of land, controlling the autonomous agricultural vehicle such that it autonomously crosses the land by moving over the said multiple distinct paths, while performing the agricultural operation in order to cultivate the piece of land, the method being improved in that before the agricultural vehicle is controlled to cross the land, the human operator is provided the option to determine that either the headland section (from now on also simply denoted as “headland”) or the mainland section (from now on also simply denoted as “mainland”) are exclusively cultivated and in that the option to determine that either the headland section or the mainland section are exclusively cultivated, is exercised by the human operator before the processing unit generates the cultivation plan.

[0017] Thus, in the current plan, either the headland or mainland are cultivated when the option is exercised by the human operator. However, this does not exclude that in a later plan, the non-cultivated section of the land is ultimately still cultivated, but for example with a different type of implement.

[0018] The invention is based on the recognition that in real life circumstances it is hardly possible, if possible at all, that all relevant variables are known in each and all circumstances, to devise an optimal routing, i.e. an optimal grid of paths (in agricultural practice also denoted as a “waylines"), their position, orientation, order in which they are to be crossed and even which paths are to be actually crossed to complete a desired cultivation operation. It was recognised that despite using sophisticated programs, input data that seems to be complete, and algorithms that are dedicated for their task, in some cases the outcome regarding the which of the paths are actually crossed is not optimal, or not even suitable for the planned cultivation task, according to the human operator. This may be due to any unforeseen circumstances, unforeseen constraints, incomplete input data, past experience of the operator that has not been (or cannot even be) taken into account, or whatever other reason that may in the situation be relevant. By providing at least the option to the human operator to determine that either the headland or the mainland are exclusively cultivated, some of these variables, constraints or other type of knowledge that is in the head of the operator, and which is relevant for a successful generation of a cultivation plan, can be taken into account.

[0019] It is noted that it is in particular essential in the method according to the invention that the determination by the operator is not obligated, but provided as an option to this operator. So the operator may choose to exercise that option, or choose not to, in which case the plan is calculated by the processing unit, preferably automatically, based on the input data, and allowing that both headland and mainland are cultivated. For the majority of the cultivation plans this may lead to a satisfactory outcome for the operator, but if not, the operator at least has the choice to manually determine that only the headland or only the mainland are cultivated. This is an important advantage over the prior art, where in case of an unsatisfactory result in the order, the operator would have to change the input data, or otherwise manipulate the system, in the hope the result would satisfy the operator’s expectation or wish. However, it may simply be that this expectation or wish simply cannot be met, even after a long iteration process. The current method is able to swiftly accommodate to such expectation or wish if deemed necessary by the operator. Thus, by going against the tendency in the art to have plans generated automatically by the system with the aim to save operator time, it some case operator time can actually be saved by allowing an operator to manually determine that either the headland or mainland or to be cultivated exclusively.

[0020] It is also noted that it is essential that the option to determine that either the headland section or the mainland section are exclusively cultivated, is exercised by the human operator before the processing unit generates the cultivation plan. This way, in the generation of the cultivation plan the fact that either the headland or the main land are to be cultivated exclusively, can be taken into account for optimal path planning. For example, typically turns are not made on a mainland section, but if the operator has determined that only the headland section is to be cultivated, it may be advantageous to (partly) use the mainland for turning operations of the vehicle. It is noted that the division of the land into a headland section and a mainland section may be a fixed division for a piece of land, or determined on a case by case basis before the paths are calculated, or thereafter, or the result of input data, for example as put in by an operator etc.. Thus, it is not essential for the invention in its broadest sense when or how the land is divided into a headland and a mainland section. It is only essential that ultimately such a division is made, and thus, that it is part of the overall cultivation plan.

[0021] It is also noted that neither the headland section nor the mainland section need to be one continuous section. For example, it may be that for a piece of land, there are two portions of land, neighbouring for example two opposing boundaries of a square piece of land, that together form the headland section. The same way, it may also be that the mainland section is composed of multiple separate portions that together form the mainland section of a piece of land.

[0022] The invention is also embodied in a method for generating a cultivation plan for an autonomous agricultural vehicle for cultivating a piece of land, in particular farmland, which plan comprises multiple distinct paths that spatially extend over the piece of land (e.g. in parallel), the method comprising providing a processing unit to generate the cultivation plan, in which plan the piece of land is divided into a headland section and a mainland section, and providing input data to the processing unit, on the basis of which input data the processing unit calculates for the multiple distinct paths, a) the positioning of the paths on the piece of land and b) the direction in which the paths extend over the piece of land, wherein in the method, before the agricultural vehicle is controlled to cross the land, the human operator is provided the option to determine that either the headland or the mainland are exclusively cultivated, characterised in that the option to determine that either the headland section or the mainland section are exclusively cultivated, is exercised by the human operator before the processing unit generates the cultivation plan.

[0023] The invention is also embodied in a system for generating a cultivation plan for an autonomous agricultural vehicle for cultivating a piece of land, in particular farmland, which plan comprises multiple distinct paths that spatially extend over the piece of land (e.g. in parallel), in which plan the piece of land is divided into a headland section and a mainland section, the system comprising a processing unit to generate the cultivation plan, means to provide input data to the processing unit, on the basis of which input data the processing unit is able to calculate for the multiple distinct paths, a) the positioning of the paths on the piece of land, and b) the direction in which the paths extend over the piece of land, a user interface (III) for communication between the processing unit and a human operator of the system, wherein the system is configured to provide to the human operator via the III, before the processing unit generates the cultivation plan, the option to determine that either the headland or the mainland are exclusively cultivated.

[0024] DEFINITIONS

[0025] An agricultural vehicle is a vehicle that is used cultivate land, typically composed of a tractor and a coupled agricultural implement, pulled or carried by the tractor which is used to generate the actual energy to propel the complete vehicle and cultivate the land. However, the implement and tractor may also be constituted as one single unit, such as a harvester. The vehicle typically has a gasoline or electric engine and large (rear) wheels or endless belt tracks (so called caterpillar tracks).

[0026] An autonomous vehicle is a vehicle that can move over a piece of land according to a predetermined cultivation plan without a human operator controlling (i.e. actively running) its instant movement. Such a vehicle is typically able to automatically perceive its environment, make decisions based on what it perceives and recognizes, and then actuate a movement or manipulation within that environment. These decision-based actions may include, but are not limited to, starting, stopping, and maneuvering around obstacles that are in its way. Such a vehicle can cross land without needing continuous control of a human operator, and thus is able to autonomously cultivate the land. It is not excluded however, that the movement of the autonomous vehicle is monitored by a human operator, for example in order to meet local safety legislation. Such monitoring can for example take place by an operator taking place on the vehicle, or monitoring the vehicle at the land from an observation post, or from a remote location via one or more cameras.

[0027] A path of a cultivation plan is a line along which a vehicle crosses a piece of land from one end to the other (not excluding that the path does not start or end adjacent an actual boundary of the land). Such a path is typically denoted as a wayline in the art of cultivation, and typically is the route to be taken for a single crossing of the piece of land. Such a path may be straight, but can also be (partly) curved, depending mainly on the shape of the piece of land and the most optimal way of crossing the complete land. Neighbouring (or adjacent) paths are typically connected by turning paths.

[0028] For lines to extend in parallel, means that the lines along their length in essence keep the same distance to each other. Parallel lines are not necessarily straight lines, they may be curved or include curves.

[0029] In agriculture the headland is the area at an end of a planted field, along its (inner or outer) perimeter. It is also known as the turnrow (USA) or furlong (Great Britain). It is typically used for turning around a vehicle (with implements) during field operations and is usually the first area to be harvested to minimize crop damage. The rows usually run perpendicular to the lay of the field and are usually two, three or four times the width of the implement used for cultivating the field. The headlands typically demarcate the space within which a particular crop will be grown as well as the point of transition between one field and another (which other field may also be a field enclosed by the said one field). The antonym of headland is mainland, or inner land, which is the inner main area of a field.

[0030] A processing unit is the part of a computing system (which may be a local system or a distributed system) that performs logical and arithmetical operations on data as specified in the instructions for this unit. A processing unit is generally composed of hardware (one or more processors) and instructions programmed therein.

[0031] To calculate means to determine or ascertain by mathematical methods such as by using a computer. To establish a value by calculation may be as simple as determining by a processing unit what an input value is and using that value as such for further processing.

[0032] To manually determine means that a human person by acts of its own makes a determination.

[0033] An option is one thing that can be chosen from a set of possibilities.

[0034] Farmland is land that is used for or suitable for farming. A piece of farmland is a part or the totality of farmland or farmland plot(s).

[0035] A human operator of a machine or device is a real-life person that has the skills to control this machine or device.

[0036] Cultivating is the act of preparing land for improving its properties, in particular for growing something, improving the growth, or harvesting thereof, especially crops. Typical cultivation acts include tillage, seeding, fertilising, spraying, harvesting etc.

[0037] A cultivation plan for a vehicle to cultivate a piece of land, is a plan which defines at least the position, direction and speed of the corresponding agricultural vehicle when crossing the land such that the land in essence can be cultivated completely.

[0038] Automatically means without the need of (human) operator intervention. The term automatically does not exclude that something is operator initiated or operator stopped as long the process can be completed without needing operator intervention.

[0039] A user interface (III) is the space where interactions between a human operator and a machine occurs. The goal of this interaction is to allow effective operation and control of the machine from the human end, while the machine simultaneously feeds back information that aids the operators' decision-making process. A III typically includes hardware such as for example a display screen, a keyboard, a hand held controller, a mouse, a smart phone and the appearance of a desktop. A user interface interacts with one or more human senses, typically via touch (a tactile III), sight (a visual III) and sound (an auditory III), but also smell (an olfactory III), balance, (an equilibria III), and taste (a gustatory III) are options for a III.

[0040] EMBODIMENTS OF THE INVENTION

[0041] In a first further embodiment, the option to determine that either the headland or the mainland are exclusively cultivated is provided to the human operator before the processing unit calculates for the multiple distinct paths, the features a) and b). This embodiment has proven to be ideally suitable for autonomous cultivation. This way, the operator can choose to exercise the option either before or after the, typically automatic, calculation. If done before, as indicated here above, this means that the determination of exclusive cultivation can be taken into account for devising an optimal cultivation plan for the totality of paths. If done afterwards, an operator can first assess what the (automatically) calculated plan is, including an order for the paths, and then decide whether or not determination that either the headed or mainland are cultivated exclusively when assessing the actual detailed routing of the paths.

[0042] In again another embodiment, the option to determine that either the headland or the mainland are exclusively cultivated is provided to the human operator as a binary choice for the human operator, to either choose the exclusive cultivation or not. For example, the human operator can be shown a toggle button on a user interface that provides the option to either “yes” or “no” exercise the option for the exclusive cultivation of the mainland (for example presented as “No Headland”). In a further embodiment, the default value for the binary choice is not to activate the determination for exclusive cultivation of either the headland or mainland.

[0043] In yet again another embodiment the input data input for the processing unit are either actively put in by the human operator, automatically retrieved from a digital source (such as a memory, which could be part of the processing unit, or the internet - for example the weather conditions or forecast- , or for example generated by artificial intelligence), or both. This provides optimal flexibility, depending on the needs of the human operator.

[0044] In still another embodiment, wherein a user interface (III) is provided for communication between the human operator and the processing unit, the III includes a display that visually shows the multiple distinct paths to the human operator, including each of the features a) and b). This provides the operator with a simple and effective means to control the generation of the plan, since the outcome is visible on a display.

[0045] In again another embodiment of the method according to the invention, when the option to determine that either the headland or the mainland are exclusively cultivated is not exercised by the human operator, the operator is provided the option to select that either the headland or mainland is cultivated first. Although this option as such is known form the art, it has not disclosed before in combination with the option for exclusive cultivation. Together, it has been found very convenient for human operators in the planning of cultivating a piece of land, since these options combined provide a high level of control for the operator. This embodiment may be practically realised by showing as a default, the choices for exclusive cultivation, and the order of cultivation for the headland and mainland, and if the exclusive cultivation of either of these sections is chosen, the options for cultivating the headland or mainland first are no longer available.

[0046] In addition to the option to determine an exclusive operation of either the headland or the mainland, it has found to be advantageous if the input data themselves includes a routing pattern. This means that the processing unit calculates the multiple distinct paths (i.e. the routing grid) using this pattern. Such a pattern for example can be a pattern wherein every other path is skipped, or two or more paths are skipped, where neighbouring paths are crossed in opposite directions etc. Preferably, there are a number of default patterns stored in a memory of the system and the human operator selects the routing pattern out of a plurality of such stored routing patterns.

[0047] In still another embodiment of the method according to the invention, in which embodiment the processing unit, on the basis of the input data also calculates for the multiple distinct paths c) the order in which the multiple distinct paths are to be crossed by the autonomous vehicle, before the agricultural vehicle is controlled to cross the land, the human operator is provided the option to manually determine the order in which the paths that are crossed by the autonomous vehicle, are actually crossed by this vehicle. This embodiment is based on the recognition that in real life circumstances it is also hardly possible, if possible at all, that all relevant variables are known in each and all circumstances, to devise an optimal routing, in particular an optimal order in which the paths are to be crossed. By providing at least the option to the human operator to manually determine the order in which the paths are to be taken (which may be as simple as only indicating which path has to be taken as the first path, or for example which path has to be taken as the last path), any variable, constraint or other type of knowledge that is in the head of the operator, and which is relevant for a successful generation of a cultivation plan, in particular the order in which the paths are to be taken, can be taken into account.

[0048] In yet a further embodiment wherein a user interface (III) is provided for communication between the human operator and the processing unit, the III includes a display that visually shows the multiple distinct paths to the human operator, including each of the features a), b) and c). Preferably, if the option to manually determine the order is chosen by the human operator, the human operator manually determines this order by indicating this order on the III for the paths that are crossed, for example using a key- board, a mouse, by touching a screen, or via voice control etc.

[0049] In yet again another embodiment of the method according to the invention, before the agricultural vehicle is controlled to cross the land, the human operator is provided the option to manually select a part of the multiple distinct paths to determine which paths of these multiple distinct paths are crossed by the autonomous vehicle, and which paths of these multiple distinct paths are not crossed. For example, if the option is exercised to cultivate the mainland exclusively, then within the mainland, the operator can select certain paths that run over the mainland for exclusive crossing and thus cultivation. This further adds to the control a human operator has on the outcome of the (automatic) planning process, this to save time and make sure the most adequate plan is provided.

[0050] Preferably, the processing unit is operatively coupled to the agricultural vehicle, typically wireless. This means that the unit and vehicle can communicate for optimal cultivation.

[0051] Optionally, the processing unit is permanently operatively coupled to the agricultural vehicle while cultivating the piece of land.

[0052] Preferably, the autonomous agricultural vehicle comprises an autonomous tractor and operatively coupled thereto an agricultural implement that performs the agricultural operation. The implement can be chosen from a group of multiple different agricultural implements.

[0053] It is noted that any and all embodiments as described here above or exemplified here after in the examples section for the method to enable a human operator to have a piece of land cultivated according to the invention, can also be embodied in the method for generating a cultivation plan for an autonomous agricultural vehicle according to the invention, and in the system according to the invention.

[0054] The invention will now be further illustrated using the following specific examples.

[0055] EXAMPLES OF THE INVENTION

[0056] Figure 1 schematically shows a system according to the invention.

[0057] Figure 2 schematically shows a human operator interacting with the system. Figure 3 schematically shows III options for a method according to the invention.

[0058] Figure 4 schematically shows how a cultivation plan is displayed on a III.

[0059] Figure 5 schematically shows how an alternative cultivation plan is displayed on a III.

[0060] Figure 1

[0061] Figure 1 schematically shows a system 1 according to the invention. The system 1 has a central processing unit 2, that is operatively coupled (wireless connection) to local processing unit 11 of vehicle 10 (schematically depicted as a dashed box; such a vehicle is commonly known in the art and for example depicted in more detail for example in WO2023 / 191616)). Note that any connection between electronic components as indicated in figure lean be wired or wireless as commonly known in the art. The system 1 further comprises a memory unit 3 that holds data regarding a piece of land to be cultivated (such as the GPS coordinates, the type of soil, objects in the piece of land, etc), the vehicle (lists with tractor types and implement types), a list with (standard) routing options and all kinds of other data than can be used as input data such that the CPU 2 can generate a particular cultivation plan.

[0062] Unit 4 is a unit that is able to retrieve data from the internet, such as the weather force cast or any other conditions that apply during the period of time estimated to be needed for cultivating the land. The CPU 2 is connected to a desk top computer 5 that can be used by a human operator of the system to input various data needed for planning the cultivation of the piece of farmland, for example by having the operator making choices from the lists as stored in memory unit 3, by putting in additional data, and by retrieving data from the internet. This process as such is known from the art. For example, a process as described in US2020033143 in conjunction with figures 6-11 therein. This way, the system 1 is able to generate a cultivation plan for the vehicle 10, taking into account all input data.

[0063] For the actual operation to perform this plan, the local processing unit of vehicle 10 is connected to engine 12 and steering unit 13. The cultivation plan as generated by system 1 is stored in unit 14 and may be adapted when needed for example when a sensor picks up an object (e.g. a fallen tree) or person standing in the way of the vehicle when crossing the land. The local processing unit 11 is able to let the vehicle perform this plan via control of the engine 12 and steering unit 13. The generation of the cultivation plan comprises the determination of multiple distinct paths that extend over the piece of farmland (see figures 4 and 5), their position, the direction in which they extend and an order in which the paths are to be crossed by the autonomous vehicle. Based on the available information, the CPU 2 receives the minimal required data for generating a cultivation plan via unit 3, and generates a travel route that fits to this field and the cultivation needed. This travel route may be generated automatically based on basic, initial parameters entered via units 3 and 4, and / or based on input parameters substantially defining a travel route entered by an operator via computer 5.

[0064] Figure 2

[0065] Figure 2 schematically shows a human operator 15 interacting with the system via the desk top computer 5. The human operator 15 that is seated behind desk top computer 5, for example at a central office of a large farm (remote from the piece of farmland), having a display 50 as user interface. This user interface allows communication between the human operator and the system 1 (as with any display): the human operator can provide all kinds of input data, for example via keyboard 51 or mouse 52, and is provided with a schematic view of the resulting cultivation plan on the display 50. This way and operator can see a schematic representation of the cultivation plan that has been generated by system 1 (see figure 4 and 5).

[0066] Figure 3

[0067] Figure 3, having sub figures 3A, 3B and 3C, schematically shows what is shown to a human operator on the display 50 when working through a program to input the data needed for the system 1 to generate a cultivation plan for a piece of farmland, which plan comprises multiple distinct paths that spatially extend over the piece of farmland in parallel. In figure 3A, indicating on the Ul 50’, is the part of the program title “Plan generation”, comprising the display of three distinct setting options, namely the “Tractor setting” 55, the “Field setting” 56 and the “Path setting” 57. These settings can be chosen one after another to make sure the system gets the desired input data regarding the type of tractor and implement (setting 55), the data regarding the farmland to be cultivated (setting 56) and data regarding the routing (setting 57). After this, by hitting the Calculate button 100, the system will generate a cultivation plan, including multiple distinct paths that spatially extend over the piece of farmland in parallel, and for these multiple distinct paths, a) the positioning of each of the paths on the piece of farmland, b) the direction in which the paths extend over the piece of farmland and c) the order in which all of the multiple distinct paths are to be crossed by the autonomous vehicle (see figures 4 and 5). It is also possible to skip one or more of these settings 55, 56 and 57, that is, if the system has default input values for the data required to determine a cultivation plan.

[0068] In figure 3B, what is shown on the display 50” is the box an operator sees when he hits the Path setting button 57. There is a Routing pattern box 58, which provides the option to select via a dropdown menu 59, various standard (predetermined) routing options such as “consecutive”, “alternating”, “Skip N” etc). Box 60 (“Headland Options”) indicates that options can be chosen for headland cultivation. If the upper toggle button 61 is put to the right, and thus the headland option is selected, the operator will be provided the opportunity to determine various headland cultivation options, using the III 50”. For this we refer to figure 3C.

[0069] Box 62 indicates an option for manually determining the order for the waylines (paths). As a default, this option is not activated (so the system automatically generates the order for all of the waylines in this default setting). If the second toggle button 61 is put to the right, and thus the option for manual wayline determination is chosen, the operator will be provided the opportunity to manual determine the order for one or more waylines, using the III 50”. For this we refer to figure 5.

[0070] Box 64 indicates an option for manual wayline selection. As a default, this option is not activated (so the system automatically uses all of the waylines in this default setting, so all waylines are to be crossed by the vehicle). If the lowermost toggle button 61 is put to the right, and thus the option for manual wayline selection is chosen, the operator will be provided the opportunity to manual select one or more waylines, using the III 50”, for exclusive cultivation.

[0071] In figure 3C, what is shown on the display 50”’ is the box an operator sees when he hits the Headland Options button 60 as displayed in figure 3B. There is a box 61 called “Headland First”, and a corresponding toggle button 61, for exercising the option of generating a plan wherein the headland is cultivated first (and only thereafter the mainland). The default value is not to exercise this option. There is a second button 67, called “Headland Last”, and a corresponding toggle button 61, for exercising the option of generating a plan wherein the headland is cultivated last (and thus the mainland cultivated first). The default value is not to exercise this option. The third box 68, called “No Headland”, and a corresponding toggle button 61 , for exercising the option of generating a plan wherein the headland is not cultivated at all, and thus the mainland is cultivated exclusively. The default value is not to exercise this option. And lastly, there is a fourth box 69, called “Headland Only”, and a corresponding toggle button 61 , for exercising the option of generating a plan wherein the headland is cultivated exclusively, and thus the mainland is not cultivated at all. The default value is not to exercise this option.

[0072] In an embodiment, the option to choose either Headland First or Headland Last is no longer available if the option to cultivate either the headland or mainland exclusively is exercised.

[0073] Figure 4

[0074] Figure 4 schematically shows how a cultivation plan is displayed on a III. In this case, the plan is for a piece of farmland 700, along which land a (non public) road 74 is situated for allowing agricultural vehicles to move from one location to another. The land 700 is divided into a mainland section 70 and headland subsections 72 and 73 which together form the headland section.

[0075] In the process of generating the cultivation plan, the human operator has put the toggle button for the Headland Options box (see figure 3B) to the right, and has thereafter exercised the option Headland Only, box 69 as displayed in figure 3C. None of the other options was exercised. This means that a plan is generated wherein only the headland is cultivated. The plan is schematically shown in figure 4 and comprises parallel paths 1 , 2 and 3 that together cover headland subsection 72, path 4 for moving the vehicle over road 74 to headland subsection 73, and paths 5, 6 and 7 that together cover headland subsection 73. No paths lay on mainland section 70. This means that the headland section is cultivated exclusively.

[0076] Figure 5

[0077] Figure 5A shows a plan, including multiple distinct cultivation paths 1-13 on a piece of farmland 700 that is divided into mainland section 70, and headland sections 72 and 73, as displayed on a III after the calculate button 100 (see figure 3A) is hit by the operator. In this case, the plan is generated while the option “No Headland” (box 68, figure 3C) is exercised. This means that a plan is generated wherein only the mainland section 70 is cultivated. The headland sections are only used for allowing the corresponding vehicle to make turns. As can be seen, the piece of farmland is in essence rectangular, with one corner being cut along inclined border 71. Using all of the input data regarding the type of tractor and implement, the field, the weather, the direction in which the first line should be crossed (in this case from headland section 73 towards headland section 72; chosen by the operator) etc, a plan is generated which includes the multiple distinct paths, the positioning of each of the paths on the piece of farmland, the direction in which the paths extend over the piece of farmland and the order in which all of the multiple distinct paths are to be crossed by the autonomous vehicle. In the present case, the plan is such that the vehicle (tractor plus implement) travels over the piece of farmland in the shortest direction, starting with a first path on the left and working to the right by crossing in each case over a neighbouring path in the opposite direction, such that the whole of the land is cultivated. The paths are connected via sharp turns 80 that run on the headland sections 72 and 73. This is the automatically generated plan that the human operator is presented on the display 50. The order of the paths 1-13 is indicated by their consecutive numbering, starting with path 1 and working to the right to path 13.

[0078] However, in the present case the human operator is aware that directly next to inclined border 71, although being an empty piece of land, since a couple of weeks sometimes wild animals are present to graze. This means that the operator desires to prevent that the implement when the vehicle turns, swings over the piece of this piece of land. This can be accomplished by making sure the turns are less sharp. The operator therefore goes back in the program, and switches toggle button 61 of box 62 (“Wayline Order”, see figure 3B) to the right, indicating that he desires to manually determine the order of (some) waylines, in this case of the first four waylines. This can be done by firstly by double clicking on the display wayline 1 and then double clicking on wayline 4. This way the operator indicates to the system that he desires to set the order for this range of four waylines. After that, he firstly clicks once on wayline 1 , then once on wayline 3, then once on wayline 2 and lastly once on way line 4, which sets the order for this sub-range of waylines. This way, the turns 80’ adjacent incline border 71 are less sharp, and there is a lower risk that the implement swings over the neighbouring land. If the operator now hits the calculate button, the system generates a new order for all of the waylines (see figure 5B), wherein the thirteen distinct paths are to be crossed by the autonomous vehicle equal to the manual determination of the human operator for first four paths (first the most lefthand wayline, then the third wayline (now denoted as “2”), then the second wayline (now denoted as “3”) and then the fourth wayline (denoted as “4”). If no further action is taken by the operator, only these four waylines are made part of the ultimate plan. If the operator indicates via the III (not depicted in any of the figures) that the other waylines also need to be part of the overall plan, the order for these waylines (paths 5- 13) is automatically calculated by the processing unit based on the input data and the position where the vehicle is when leaving path 4. This overall result is depicted in figure 5B.

[0079] If satisfied, the operator can initiate the actual cultivation by instructing the system (after the operator has brought the vehicle to the piece of farmland 70) to control the autonomous agricultural vehicle such that it autonomously crosses the land by moving over each of the said multiple distinct paths 1-13 in the determined order as displayed in figure 5B, while performing the agricultural operation in order to exclusively cultivate the mainland 70 of the piece of farmland.

Claims

CLAIMS1. A method to enable a human operator to have a piece of land cultivated, the method comprising:- providing an autonomous agricultural vehicle that is able to perform an agricultural operation,- providing a processing unit to generate a cultivation plan for the piece of land, which plan comprises multiple distinct paths that spatially extend over the piece of land, in which plan the piece of land is divided into a headland section and a mainland section,- providing input data to the processing unit, on the basis of which input data the processing unit calculates for the multiple distinct paths, a) the positioning of the paths on the piece of land and b) the direction in which the paths extend over the piece of land,- controlling the autonomous agricultural vehicle such that it autonomously crosses the land by moving over the said multiple distinct paths, while performing the agricultural operation in order to cultivate the piece of land, wherein in the method, before the agricultural vehicle is controlled to cross the land, the human operator is provided the option to determine that either the headland section or the mainland section are exclusively cultivated, characterised in that the option to determine that either the headland section or the mainland section are exclusively cultivated, is exercised by the human operator before the processing unit generates the cultivation plan.

2. A method according to claim 1, characterised in that the option to determine that either the headland section or the mainland section are exclusively cultivated is provided to the human operator before the processing unit calculates for the multiple distinct paths, the features a) and b).

3. A method according to any of the preceding claims, characterised in that the option to determine that either the headland section or the mainland section are exclusively cultivated is provided to the human operator as a binary choice for the human operator, to either choose the exclusive cultivation or not.

4. A method according to claim 3, characterised in that a default value for the binary choice is not to choose the exclusive cultivation.

5. A method according to any of the preceding claims, characterised in that the input data input for the processing unit are either actively put in by the human operator, automatically retrieved from a digital source, or both.

6. A method according to any of the preceding claims, wherein a user interface (III) is provided for communication between the human operator and the processing unit, characterised in that the III includes a display that visually shows the multiple distinct paths to the human operator, including the features a) and b).

7. A method according to any of the preceding claims, characterised in that when the option to determine that either the headland section or the mainland section are exclusively cultivated is not exercised by the human operator, the operator is provided the option to select that either the headland or mainland is cultivated first.

8. A method according to any of the preceding claims, characterised in that the input data includes a routing pattern and wherein the human operator may select the routing pattern out of a plurality of routing patterns.

9. A method according to any of the preceding claims, wherein the processing unit, on the basis of the input data also calculates for the multiple distinct paths c) the order in which the multiple distinct paths are to be crossed by the autonomous vehicle, characterised in that in the method, before the agricultural vehicle is controlled to cross the land, the human operator is provided the option to manually determine the order in which the paths that are crossed by the autonomous vehicle, are actually crossed by this vehicle.

10. A method according to claim 9, wherein a user interface (III) is provided for communication between the human operator and the processing unit, characterised in that the III includes a display that visually shows the multiple distinct paths to the human operator, including each of the features a), b) and c).

11. A method according to claim 10, characterised in that if the option to manually determine the order is chosen by the human operator, the human operator manuallydetermines this order by indicating this order on the III for the paths that are crossed.

12. A method according to any of the preceding claims, characterised in that in the method, before the agricultural vehicle is controlled to cross the land, the human operator is provided the option to manually select a part of the multiple distinct paths to determine which paths of these multiple distinct paths are exclusively crossed by the autonomous vehicle, and which paths of these multiple distinct paths are not crossed.

13. A method for generating a cultivation plan for an autonomous agricultural vehicle for cultivating a piece of land, which plan comprises multiple distinct paths that spatially extend over the piece of land, the method comprising providing a processing unit to generate the cultivation plan, in which plan the piece of land is divided into a headland section and a mainland section, and providing input data to the processing unit, on the basis of which input data the processing unit calculates for the multiple distinct paths, a) the positioning of the paths on the piece of land and b) the direction in which the paths extend over the piece of land, wherein in the method, before the agricultural vehicle is controlled to cross the land, the human operator is provided the option to determine that either the headland section or the mainland section are exclusively cultivated, characterised in that the option to determine that either the headland section or the mainland section are exclusively cultivated, is exercised by the human operator before the processing unit generates the cultivation plan.

14. A system for generating a cultivation plan for an autonomous agricultural vehicle for cultivating a piece of land, which plan comprises multiple distinct paths that spatially extend over the piece of land, in which plan the piece of land is divided into a headland section and a mainland section, the system comprising- a processing unit to generate the cultivation plan,- means to provide input data to the processing unit, on the basis of which input data the processing unit is able to calculate for the multiple distinct paths, a) the positioning of the paths on the piece of land, and b) the direction in which the paths extend over the piece of land,- a user interface (III) for communication between the processing unit and a human operator of the system, characterised in that the system is configured to provide to the human operator via theIII, before the processing unit generates the cultivation plan, the option to determine that either the headland section or the mainland section are exclusively cultivated.

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