EP4156897A1 - Agricultural method and system for performing the method - Google Patents

Agricultural method and system for performing the method

Info

Publication number
EP4156897A1
EP4156897A1 EP21729967.6A EP21729967A EP4156897A1 EP 4156897 A1 EP4156897 A1 EP 4156897A1 EP 21729967 A EP21729967 A EP 21729967A EP 4156897 A1 EP4156897 A1 EP 4156897A1
Authority
EP
European Patent Office
Prior art keywords
autonomous
unmanned
fertilizing
crop
harvesting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21729967.6A
Other languages
German (de)
French (fr)
Inventor
Korstiaan Cornelis BLOKLAND
Ruth De Jong
Dik-Jan Wisse
Yan Li
Karel Van Den Berg
Robbert KLOMPE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lely Patent NV
Original Assignee
Lely Patent NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lely Patent NV filed Critical Lely Patent NV
Publication of EP4156897A1 publication Critical patent/EP4156897A1/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
    • A01D90/12—Vehicles for carrying harvested crops with means for selfloading or unloading with additional devices or implements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
    • A01D90/16—Vehicles for carrying harvested crops with means for selfloading or unloading self-propelled

Definitions

  • the present invention relates to an agricultural method.
  • the invention achieves the object at least in part by means of a method according to claim 1 , in particular an agricultural method, using an autonomous, unmanned harvesting device and a control device, comprising the following steps, which are performed repeatedly: a) automatically harvesting feed crop in a part of a crop field by means of the autonomous, unmanned harvesting device; b) automatically loading the harvested feed crop into a storage space provided on the autonomous, unmanned harvesting device; c) automatically fertilizing said part of the crop field using an autonomous, unmanned fertilizing device; d) automatically transporting the feed crop from the crop field to a destination location by means of the autonomous, unmanned harvesting device; e) automatically unloading harvested feed from the storage space of the autonomous, unmanned harvesting device at the destination location.
  • the invention also relates to a system for performing the method, in particular, a system according claim 13. An efficient, multi-purpose and completely automatic system is thus realized.
  • the expected time to elapse before the next harvesting step in said part of the crop field will be performed is determined, and the fertilizing step is controlled in dependence on the determined expected time to elapse before the next harvesting step in said part of the crop field will be performed. In this way, automatic and dedicated fertilizing adapted to the current needs is rendered possible.
  • the fertilizing step is controlled in dependence on the expected crop growth in said part of the crop field.
  • the method is optimally adapted to the actual needs and circumstances.
  • the expected crop growth in said part of the crop field is determined in dependence on the soil condition. This is an important parameter and its use has been proven to give excellent results.
  • the soil condition is measured. That is very advantageous, as the soil can then be easily accessed.
  • the amount and/or the quality of the actually harvested crop is determined and is compared to an expected amount and/or quality of the harvested crop in said part of the crop field, the fertilizing step also being controlled in dependence on the comparison, so as to compensate the difference in a next harvesting step.
  • a liquid mix of fertilizer diluted with water is used. This is safe and easy to dose.
  • a fertilizer mix filling step is performed. In this way it is efficiently achieved that in every run the device has the right amount of fertilizer on board.
  • the fertilizer mix filling step is performed substantially during an energy charging step for the autonomous, unmanned device. This is advantageous in that it is time-saving.
  • the fertilizer mix filling step comprises as a final substep the topping up with water.
  • the filling system is efficiently rinsed.
  • the fertilizer mix filling step is performed making use of gravity. This is a very simple, yet efficient solution. There is enough time and it results in a calm process.
  • the destination location is a feeding station for feeding a group of animals, the harvesting step being performed in dependence on a determined expected feed demand at the feeding station.
  • the energy charging station and the fertilizer mix filling station are combined or integrated. In this way, is a compact and efficient solution is realized.
  • a water tank connectable to the fertilizer mix tank. This enables a (further) dilution of the fertilizer mix, enabling an adaptation to the current needs.
  • the water tank may be provided at the fertilizer mix filling station and/or at the device itself.
  • an optical and/or tactile sensor for measuring the soil condition is provided, e.g. a near infrared camera.
  • a near infrared camera is suitable for measuring the temperature and/or the moisture content of the soil.
  • a tactile sensor represents a cheap solution for determining the temperature, the moisture, the conductivity and/or the amount of fertilizer already present.
  • the fertilizer mix filling means comprise a filling element provided at the fertilizer mix filling station suitable for cooperating with a pivotable inlet cover element and a filling element provided at the autonomous, unmanned device.
  • a filling element provided at the fertilizer mix filling station suitable for cooperating with a pivotable inlet cover element and a filling element provided at the autonomous, unmanned device.
  • the autonomous, unmanned harvesting device comprises the autonomous unmanned fertilizing device.
  • the harvesting and fertilizing actions can be performed by one single device and preferably in one single run which makes these processes cheaper to perform.
  • the fertilizer mix dosing means comprise a number of dosing nozzles, which are provided, seen in the direction of travel of the autonomous, unmanned harvesting device, behind the harvesting means and before the wheels. This is a technically simple, yet efficient solution. The soil and/or the crop is not compressed or pressed down by the wheels, ensuring a better fertilization of the soil.
  • Figure 1 schematically shows the front side of an autonomous, unmanned device according to the invention, whereby the autonomous unmanned harvesting devices comprises the autonomous unmanned fertilizing device;
  • Figure 2 schematically shows the back side of the autonomous, unmanned device
  • Figure 3 illustrates a system according to the invention with an autonomous unmanned harvesting device and an autonomous unmanned fertilizing device;
  • Figure 4 shows a fertilizer mix filling means according to the invention in a first position
  • Figure 5 shows a fertilizer mix filling means according to the invention in a second position.
  • FIG. 1 the front side (seen in the direction of travel) of an embodiment of a so called combined autonomous, unmanned device 1 according to the invention is schematically depicted.
  • This combined device 1 is an autonomous unmanned harvesting device 1 , 22 comprising the autonomous unmanned fertilizing device 21 and therefore combines the function of harvesting and transporting with the function of fertilizing in a single autonomous unmanned device.
  • the combined autonomous, unmanned device 1 is a vehicle with a body 2 and wheels 3.
  • the front side is provided with automatic feed harvesting means 4, here shown in the form of an automatic mowing device 4.
  • automatic loading means 5 for conveying the harvested crop into a storage space 6 inside the body
  • fertilizer mix dosing means 7 e.g. comprising a row of dosing nozzles on a dosing bar (known as such).
  • the dosing nozzles are provided, seen in the direction of travel of the combined autonomous, unmanned device 1 , behind the harvesting means 4 and before the wheels
  • This computer comprises i.a. a processor and navigation means. It can be included in the autonomous, unmanned device 1 , but it can also be located elsewhere and communicate with the vehicle 1 via an antenna 8 (see Figure 2).
  • Figure 2 schematically shows the back side (seen in the direction of travel) of an embodiment of the combined autonomous, unmanned device 1.
  • the antenna 8 is provided on top of the body 2 for communication purposes.
  • a fertilizer mix tank 9 for containing fertilizer mix is provided, with a volume of e.g. 100 liters. It is connected to a filling funnel 10, which has a pivotable inlet cover element 11 connected to the rear side of the body 2 of the autonomous, unmanned device 1.
  • Connector means 12 used for electrically charging a battery or batteries (not shown) of the device 1 are also provided at the rear end of the body 2.
  • a combustion engine or any other suitable means for driving the device 1 instead of a rechargeable battery.
  • FIG. 2 At the right side of Figure 2 some elements are shown which are suitable for interacting with elements provided at the rear side of device 1 , 21.
  • An electrical charging means 13 is suitable for cooperation with connector means 12 in order to electrically charge or recharge batteries of the device 1.
  • a filling element 14 is suitable for cooperation with filling funnel 10 and pivotable inlet cover element 11 in order to fill or refill the fertilizer mix tank 9, as will be explained in further detail with reference to Figures 4 and 5 (see below).
  • the charging device 13 can be located at an energy charging station for the autonomous, unmanned harvesting device 1.
  • the fertilizer mix filling element 14 can be located at a fertilizer mix filling station for the autonomous, unmanned harvesting device 1 . These two stations can of course be efficiently combined into one charging station for the device 1 .
  • the device 1 is suitable for automatically transporting the harvested feed crop from the crop field to a destination location and automatically unloading the harvested feed from the storage space 6 of the autonomous, unmanned harvesting device 1 at the destination location.
  • the charging device 13 and the fertilizer mix filling element 14 are both provided at that destination location, e.g. a feeding station for animals.
  • Figure 3 illustrates a system according to the invention with a separate autonomous unmanned harvesting device 22 and a separate autonomous unmanned fertilizing device 21.
  • the autonomous, unmanned harvesting device 22, provided with automatic driving means comprising wheels 3, the control device (not shown), automatic feed harvesting means 4, automatic feed loading means 5, feed storage space 6, automatic feed unloading means (not shown), navigation means (not shown), and an autonomously unmanned fertilizing device 21 with automatic fertilizing means comprising fertilizer mix tank 9 and fertilizer mix dosing means 7, is moving across a crop field 15 along the same predetermined path 16 under the control of the control device.
  • the device 22 mows crop (e.g. grass) in the crop field 15 or in a part of the crop field 15 and transports the loaded feed to a destination location 17.
  • This can be a feeding station for animals, such as cows.
  • the device 22 can start its next run, mowing a different part of crop field 15. In this way, the animals are repeatedly completely automatically provided with fresh feed.
  • the autonomously unmanned fertilizing device 21 follows the unmanned autonomously harvesting device 22 at a certain distance.
  • the surface of the crop field 15 already harvested is monitored and after unloading its feed at the destination location 17, the autonomous, unmanned device 22 is automatically returned to the crop field 15 to a starting location in dependence on the surface of the crop field already harvested.
  • the autonomous harvesting device 22 is ready for a next run. This is being performed repeatedly, so that a constantly repeated supply of fresh feed crop to the animals at the feeding location is guaranteed.
  • the monitoring can be done in a simple way, e.g. by registering the begin and end point of the harvesting trajectory, but preferably use is made of the navigation means (known as such).
  • the end point of the last harvesting run can be taken as the starting point for the next run.
  • the path 16 for the autonomous, unmanned devices 21 , 22 is only a schematic illustration. Normally, the devices will have to move up and down the field 15 quite a number of times. As soon as the control device has decided that the device 22 should go to the destination location 17 for a next delivery, having taken into account the expected feed demand, the collected amount of feed in the storage space 6 (as determined e.g. with a weighing floor) and the expected travel path and time from the current position of the device 1 to the destination location 17 (as determined with the navigation means), the device 22 leaves the field 15 along an optimal path calculated by the control device and moves towards the destination location 17. This is not exactly illustrated in Figure 3. The device 1 might leave the field 15 somewhere on the side, for example, if that is a shorter way.
  • a suitable path 16 and an expected travel time for the autonomous, unmanned devices 21 , 22 from its expected location to the destination location 17 as a function of time is determined. Anticipating the path to follow and the time this will take enables a more efficient system. Especially if the crop field 15 is vast and/or the destination location 17 is relatively close-by, the position in the crop field 15 from where the autonomous, unmanned harvesting device 22 travels with the harvested crop to the destination location 17 weighs heavily for the expected travel time. Conversely, if the field 15 is not so big and/or if the destination location 17 is relatively far away, the position in the crop field 15 from where the autonomous, unmanned harvesting device 22 travels with the harvested crop to the destination location does not weigh heavily for the expected travel time.
  • the expected travel time is obviously relevant when scheduling a next run for the device 1 .
  • the charging means 13 and the filling element 14 are provided.
  • the charging means 13 can cooperate with the connector means 12 at the back of the body 2 of device 1.
  • the fertilizer mix filling element 14 can cooperate with the pivotable inlet cover element 11 and the filling funnel 10 to fill up or refill the fertilizer mix tank 9.
  • the fertilizer mix filling element 14 can be connected with a fertilizer reservoir (not shown) and also to a water reservoir (not shown).
  • a mix of fertilizer and water can be introduced into the fertilizer mix tank 9. A (further) dilution of the fertilizer mix is rendered possible, enabling an exact adaptation to the current needs.
  • the following steps are performed repeatedly: a) automatically harvesting feed crop in a part of a crop field (15) by means of the autonomous, unmanned harvesting device (1 , 22); b) automatically loading the harvested feed crop into a storage space (6) provided on the autonomous, unmanned harvesting device (1 , 22); c) automatically fertilizing said part of the crop field (15) using an autonomous, unmanned fertilizing device (1 , 21); d) automatically transporting the feed crop from the crop field (15) to a destination location (17) by means of the autonomous, unmanned harvesting device (1 , 22); e) automatically unloading harvested feed from the storage space (6) of the autonomous, unmanned harvesting device (1 , 22) at the destination location (17).
  • the expected time to elapse before the next harvesting step in said part of the crop field 15 will be performed is determined, and the fertilizing step is controlled in dependence on the determined expected time to elapse before the next harvesting step in said part of the crop field 15 will be performed.
  • Said expected time may depend on e.g. an amount of feed needed at an animal feeding station. It is noted that, of course, it is also possible to determine an entity equivalent to the expected time to elapse before the next harvesting step in said part of the crop field will be performed, such as an expected amount of crop growing in said part of the crop field before the next harvesting step (that is the time multiplied by the crop growth rate).
  • the device 1 can take into account when the relevant parcel of land will be revisited. If, for example, it is expected that the next harvesting run on the parcel will take place in 3 weeks, the expected amount of crop available at that time can be estimated, and the fertilizing step is performed accordingly. Should it take longer to execute the next run on the relevant parcel of land, then the fertilizer step can be adapted in the sense that more fertilizer or fertilizer mix is distributed, in order to avoid a very low protein level (depending on the amount of nitrogen fertilized) in the crop (e.g. grass).
  • the method and system according to the invention enable the user to automatically regulate the amount and the composition of the crop, which is, of course, highly desirable and advantageous. For example, an extremely high (or low) protein content or sugar content in the grass can thus be avoided. This is of great importance for the proper feeding of cows.
  • the fine-tuned fertilizing step gives environmentally friendly results. Controlling the protein content of the grass helps in reducing the ammonia output. Overfertilization and resulting nitrate washout is also avoided.
  • Adjusting the fertilizer mix can be done in various ways.
  • the amount of fertilizer can be adapted, the amount of water added at the fertilizer mix filling station also. Besides, if a further water tank is provided on the fertilizing device 21 itself, a further on board dilution of the fertilizer mix is rendered possible. Correct dosing of the fertilizer (mix) is thus enabled in a simple way.
  • the fertilizing step is controlled in dependence on the expected crop growth in said part of the crop field 15.
  • the method is optimally adapted to the actual needs and circumstances.
  • the expected crop growth can be dependent on the weather, on historical data, on the time in the season, on (measured) soil condition, etcetera.
  • the expected crop growth in said part of the crop field 15 is determined in dependence on the soil condition. This is an important parameter and its use has been proven to give excellent results. To this end, after the loading step and before the fertilizing step the soil condition is measured. This is very advantageous, as the soil can then be easily accessed.
  • An optical sensor for measuring the soil condition (not shown) is provided, e.g. a near infrared camera.
  • a near infrared camera e.g. a near infrared camera.
  • Such a sensor is suitable for measuring the temperature and/or the moisture content of the soil.
  • a tactile sensor for measuring the soil condition (not shown) is provided. This represents a cheap solution (known as such) for determining the temperature, the moisture, the conductivity and/or the amount of fertilizer already present.
  • These sensor(s) can be advantageously positioned right after the automatic harvesting means 4, e.g. at the lower end of the automatic loading means 5, facing downwardly. In this position, the sensors have an optimal field of view.
  • a contactless measurement of the soil temperature also enables the determination of the moisture content, by comparing the measured soil temperature with the ambient temperature.
  • information on the soil condition and soil porousness is obtained.
  • other sensors such as a microwave sensor, which enables the determination of soil moisture and/or soil mineral content.
  • a spectrum analyzer for analysis of the soil condition, at certain positions to be programmed by the user. All this information can be readily used to fine-tune the fertilizing step in the method according to the invention.
  • the tactile sensor(s) can also be used to determine the soil condition or to improve the accuracy of the soil condition determination.
  • the amount and/or the quality of the actually harvested crop is determined and is compared to an expected amount and/or quality of the harvested crop in said part of the crop field 15, the fertilizing step also being controlled in dependence on the comparison, so as to compensate the difference in a next harvesting step.
  • the method is further improved and optimized.
  • the percentage of clover crops in the crop field 15 can be adapted to influence the feed quality.
  • a liquid mix of fertilizer diluted with water is used. This is safe for the user and also for the environment. Besides, the mix is easy to dose.
  • the fertilizer mix filling step is performed during an energy charging step for the autonomous, unmanned device 1. This is advantageous in that it is time-saving.
  • the fertilizer mix filling step comprises as a final substep the topping up with water.
  • the filling system is efficiently rinsed every time at the end of the filling process. Besides, any leakage that might occur when the device 1 leaves the fertilizer mix filling station is not harmful to the environment.
  • the fertilizer mix filling step is performed making use of gravity. This is a very simple, yet efficient solution. There is enough time anyway and it results in a calm filling process.
  • the destination location 17 can be a feeding station for feeding a group of animals, the harvesting step then being performed in dependence on a determined expected feed demand at the feeding station. This constitutes a useful implementation and an efficient feeding method.
  • Figure 4 shows a fertilizer mix filling means according to the invention in a first position and Figure 5 shows a fertilizer mix filling means according to the invention in a second position.
  • the fertilizer mix filling means comprise a filling element 14 provided at the fertilizer mix filling station (in the embodiment shown this is at the destination location) suitable for cooperating with a pivotable inlet cover element 11 and a filling element 10 provided at the back side of the autonomous, unmanned device 1 .
  • the respective elements are positioned and dimensioned such that charging means 13 and connector means 12 can click into place and connect, while at the same time filling element 14 cooperates with pivotable inlet cover element 11 and connects with filling element 10 for the fertilizer tank 9.
  • the element 11 has a pivotable and spring-loaded connection to the back side of the body 2 of device 1.
  • Filling element 14 has an outlet element 18, which is connectable to a fertilizer reservoir and also to a water reservoir (both not shown for the sake of simplicity).
  • the outlet element 18 is kept in a vertical position by means of a parallelogram linkage 19 which has a spring-loaded connection to the outlet element 18.
  • the parallelogram linkage 19 which has a spring-loaded connection to the outlet element 18.
  • the consistence, texture, density, water content, nutritional value and taste of the crop may vary widely due to weather conditions, season, field conditions, etcetera.
  • the feeding habits of a group of animals to be fed vary in time. For this reason, a fixed harvesting and feeding frequency would not be satisfactory.
  • the method according to the invention offers an automated, yet dedicated system.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Fertilizing (AREA)

Abstract

An agricultural method, using an autonomous, unmanned harvesting device (1, 22) and a control device, comprising the following steps, which are performed repeatedly: a) automatically harvesting feed crop in a part of a crop field (15) by means of the autonomous, unmanned harvesting device (1, 22); b) automatically loading the harvested feed crop into a storage space (6) provided on the autonomous, unmanned harvesting device (1, 22); c) automatically fertilizing said part of the crop field (15) using an autonomous, unmanned fertilizing device (1, 21); d) automatically transporting the feed crop from the crop field (15) to a destination location (17) by means of the autonomous, unmanned harvesting device (1, 22); e) automatically unloading harvested feed from the storage space (6) of the autonomous, unmanned harvesting device (1, 22) at the destination location (17). Thus, an efficient, completely automated method is realized wherein harvested feed crop is delivered at a destination location and fertilizing takes place just after removing the crop from the soil. The invention further relates to a system for performing the method. An efficient, multi-purpose and completely automatic system is thus realized.

Description

Agricultural method and system for performing the method
The present invention relates to an agricultural method.
Such methods are widely known. The known methods all have drawbacks. Many of them require manual labour or at least the use of a machine operator and/or a tractor driver. Others are restricted to harvesting and processing crop locally in the crop field. Still others do not involve soil regeneration. There is a need for an improved, more automated and more universal method.
It is an object of the present invention to provide an improved agricultural method.
The invention achieves the object at least in part by means of a method according to claim 1 , in particular an agricultural method, using an autonomous, unmanned harvesting device and a control device, comprising the following steps, which are performed repeatedly: a) automatically harvesting feed crop in a part of a crop field by means of the autonomous, unmanned harvesting device; b) automatically loading the harvested feed crop into a storage space provided on the autonomous, unmanned harvesting device; c) automatically fertilizing said part of the crop field using an autonomous, unmanned fertilizing device; d) automatically transporting the feed crop from the crop field to a destination location by means of the autonomous, unmanned harvesting device; e) automatically unloading harvested feed from the storage space of the autonomous, unmanned harvesting device at the destination location.
In this way, an efficient, completely automated method is realized wherein harvested feed crop is delivered at a destination location and fertilizing takes place just after removing the crop from the soil, which is highly advantageous.
The invention also relates to a system for performing the method, in particular, a system according claim 13. An efficient, multi-purpose and completely automatic system is thus realized.
Suitable and advantageous embodiments are described in the dependent claims, as well as in the description below.
According to an embodiment, the expected time to elapse before the next harvesting step in said part of the crop field will be performed is determined, and the fertilizing step is controlled in dependence on the determined expected time to elapse before the next harvesting step in said part of the crop field will be performed. In this way, automatic and dedicated fertilizing adapted to the current needs is rendered possible.
In a further embodiment, the fertilizing step is controlled in dependence on the expected crop growth in said part of the crop field. Thus, the method is optimally adapted to the actual needs and circumstances.
Advantageously, the expected crop growth in said part of the crop field is determined in dependence on the soil condition. This is an important parameter and its use has been proven to give excellent results.
In a still further embodiment, after the loading step and before the fertilizing step the soil condition is measured. That is very advantageous, as the soil can then be easily accessed.
In yet another embodiment, the amount and/or the quality of the actually harvested crop is determined and is compared to an expected amount and/or quality of the harvested crop in said part of the crop field, the fertilizing step also being controlled in dependence on the comparison, so as to compensate the difference in a next harvesting step. By measuring and compensating the method is further improved and optimized.
Advantageously, in the fertilizing step a liquid mix of fertilizer diluted with water is used. This is safe and easy to dose.
According to an embodiment, after the fertilizing step and before the next fertilizing step a fertilizer mix filling step is performed. In this way it is efficiently achieved that in every run the device has the right amount of fertilizer on board.
In a further embodiment, the fertilizer mix filling step is performed substantially during an energy charging step for the autonomous, unmanned device. This is advantageous in that it is time-saving.
In yet a further embodiment, the fertilizer mix filling step comprises as a final substep the topping up with water. Thus the filling system is efficiently rinsed.
Preferably, the fertilizer mix filling step is performed making use of gravity. This is a very simple, yet efficient solution. There is enough time and it results in a calm process.
In an embodiment, the destination location is a feeding station for feeding a group of animals, the harvesting step being performed in dependence on a determined expected feed demand at the feeding station. This constitutes a useful implementation and an efficient feeding method. In an embodiment of the system according to the invention, the energy charging station and the fertilizer mix filling station are combined or integrated. In this way, is a compact and efficient solution is realized.
In a further embodiment, furthermore a water tank, connectable to the fertilizer mix tank, is provided. This enables a (further) dilution of the fertilizer mix, enabling an adaptation to the current needs. The water tank may be provided at the fertilizer mix filling station and/or at the device itself.
Advantageously, an optical and/or tactile sensor for measuring the soil condition is provided, e.g. a near infrared camera. Such a sensor is suitable for measuring the temperature and/or the moisture content of the soil. A tactile sensor represents a cheap solution for determining the temperature, the moisture, the conductivity and/or the amount of fertilizer already present.
Preferably, the fertilizer mix filling means comprise a filling element provided at the fertilizer mix filling station suitable for cooperating with a pivotable inlet cover element and a filling element provided at the autonomous, unmanned device. This constitutes a simple, yet very practical and efficient implementation.
In a further embodiment, the autonomous, unmanned harvesting device comprises the autonomous unmanned fertilizing device. In this way the harvesting and fertilizing actions can be performed by one single device and preferably in one single run which makes these processes cheaper to perform.
In yet another embodiment, the fertilizer mix dosing means comprise a number of dosing nozzles, which are provided, seen in the direction of travel of the autonomous, unmanned harvesting device, behind the harvesting means and before the wheels. This is a technically simple, yet efficient solution. The soil and/or the crop is not compressed or pressed down by the wheels, ensuring a better fertilization of the soil.
The invention will now be further explained with reference to the following
Figures.
Figure 1 schematically shows the front side of an autonomous, unmanned device according to the invention, whereby the autonomous unmanned harvesting devices comprises the autonomous unmanned fertilizing device;
Figure 2 schematically shows the back side of the autonomous, unmanned device; Figure 3 illustrates a system according to the invention with an autonomous unmanned harvesting device and an autonomous unmanned fertilizing device;
Figure 4 shows a fertilizer mix filling means according to the invention in a first position; Figure 5 shows a fertilizer mix filling means according to the invention in a second position.
In Figure 1 the front side (seen in the direction of travel) of an embodiment of a so called combined autonomous, unmanned device 1 according to the invention is schematically depicted. This combined device 1 is an autonomous unmanned harvesting device 1 , 22 comprising the autonomous unmanned fertilizing device 21 and therefore combines the function of harvesting and transporting with the function of fertilizing in a single autonomous unmanned device.
The combined autonomous, unmanned device 1 is a vehicle with a body 2 and wheels 3. The front side is provided with automatic feed harvesting means 4, here shown in the form of an automatic mowing device 4. Furthermore, there are automatic loading means 5 for conveying the harvested crop into a storage space 6 inside the body
2. Between the harvesting means 4 and the wheels 3 there are provided fertilizer mix dosing means 7, e.g. comprising a row of dosing nozzles on a dosing bar (known as such). The dosing nozzles are provided, seen in the direction of travel of the combined autonomous, unmanned device 1 , behind the harvesting means 4 and before the wheels
3. This is a technically simple, yet efficient solution. The soil and/or the crop is not compressed or pressed down by the wheels 3, ensuring a better fertilization of the soil.
Not shown are drive means for the autonomous, unmanned device 1 and a computer (or other control means) with the aid of which the autonomous, unmanned device 1 is controlled and operated. This computer comprises i.a. a processor and navigation means. It can be included in the autonomous, unmanned device 1 , but it can also be located elsewhere and communicate with the vehicle 1 via an antenna 8 (see Figure 2).
Figure 2 schematically shows the back side (seen in the direction of travel) of an embodiment of the combined autonomous, unmanned device 1.
The antenna 8 is provided on top of the body 2 for communication purposes. A fertilizer mix tank 9 for containing fertilizer mix is provided, with a volume of e.g. 100 liters. It is connected to a filling funnel 10, which has a pivotable inlet cover element 11 connected to the rear side of the body 2 of the autonomous, unmanned device 1. Connector means 12 used for electrically charging a battery or batteries (not shown) of the device 1 are also provided at the rear end of the body 2. Of course, it is also possible to use a combustion engine or any other suitable means for driving the device 1 , instead of a rechargeable battery.
Furthermore, at the rear side there are provided means for automatically unloading and/or dosing feed crop at a destination location, e.g. a side discharge (known as such). These means are not shown, for the sake of simplicity.
At the right side of Figure 2 some elements are shown which are suitable for interacting with elements provided at the rear side of device 1 , 21. An electrical charging means 13 is suitable for cooperation with connector means 12 in order to electrically charge or recharge batteries of the device 1. A filling element 14 is suitable for cooperation with filling funnel 10 and pivotable inlet cover element 11 in order to fill or refill the fertilizer mix tank 9, as will be explained in further detail with reference to Figures 4 and 5 (see below).
The charging device 13 can be located at an energy charging station for the autonomous, unmanned harvesting device 1. The fertilizer mix filling element 14 can be located at a fertilizer mix filling station for the autonomous, unmanned harvesting device 1 . These two stations can of course be efficiently combined into one charging station for the device 1 . The device 1 is suitable for automatically transporting the harvested feed crop from the crop field to a destination location and automatically unloading the harvested feed from the storage space 6 of the autonomous, unmanned harvesting device 1 at the destination location. Preferably, the charging device 13 and the fertilizer mix filling element 14 are both provided at that destination location, e.g. a feeding station for animals.
Figure 3 illustrates a system according to the invention with a separate autonomous unmanned harvesting device 22 and a separate autonomous unmanned fertilizing device 21.
The autonomous, unmanned harvesting device 22, provided with automatic driving means comprising wheels 3, the control device (not shown), automatic feed harvesting means 4, automatic feed loading means 5, feed storage space 6, automatic feed unloading means (not shown), navigation means (not shown), and an autonomously unmanned fertilizing device 21 with automatic fertilizing means comprising fertilizer mix tank 9 and fertilizer mix dosing means 7, is moving across a crop field 15 along the same predetermined path 16 under the control of the control device. Repeatedly, the device 22 mows crop (e.g. grass) in the crop field 15 or in a part of the crop field 15 and transports the loaded feed to a destination location 17. This can be a feeding station for animals, such as cows. Then, the device 22 can start its next run, mowing a different part of crop field 15. In this way, the animals are repeatedly completely automatically provided with fresh feed. The autonomously unmanned fertilizing device 21 follows the unmanned autonomously harvesting device 22 at a certain distance.
The surface of the crop field 15 already harvested is monitored and after unloading its feed at the destination location 17, the autonomous, unmanned device 22 is automatically returned to the crop field 15 to a starting location in dependence on the surface of the crop field already harvested. Thus, the autonomous harvesting device 22 is ready for a next run. This is being performed repeatedly, so that a constantly repeated supply of fresh feed crop to the animals at the feeding location is guaranteed. The monitoring can be done in a simple way, e.g. by registering the begin and end point of the harvesting trajectory, but preferably use is made of the navigation means (known as such). The end point of the last harvesting run can be taken as the starting point for the next run.
It is noted that in Figure 3 the path 16 for the autonomous, unmanned devices 21 , 22 is only a schematic illustration. Normally, the devices will have to move up and down the field 15 quite a number of times. As soon as the control device has decided that the device 22 should go to the destination location 17 for a next delivery, having taken into account the expected feed demand, the collected amount of feed in the storage space 6 (as determined e.g. with a weighing floor) and the expected travel path and time from the current position of the device 1 to the destination location 17 (as determined with the navigation means), the device 22 leaves the field 15 along an optimal path calculated by the control device and moves towards the destination location 17. This is not exactly illustrated in Figure 3. The device 1 might leave the field 15 somewhere on the side, for example, if that is a shorter way.
Advantageously, a suitable path 16 and an expected travel time for the autonomous, unmanned devices 21 , 22 from its expected location to the destination location 17 as a function of time is determined. Anticipating the path to follow and the time this will take enables a more efficient system. Especially if the crop field 15 is vast and/or the destination location 17 is relatively close-by, the position in the crop field 15 from where the autonomous, unmanned harvesting device 22 travels with the harvested crop to the destination location 17 weighs heavily for the expected travel time. Conversely, if the field 15 is not so big and/or if the destination location 17 is relatively far away, the position in the crop field 15 from where the autonomous, unmanned harvesting device 22 travels with the harvested crop to the destination location does not weigh heavily for the expected travel time. Anyway, the expected travel time is obviously relevant when scheduling a next run for the device 1 .
Instead of determining multiple expected suitable paths 16 as a function of time, it is possible to plan only one after scheduling the next harvesting run. This might be slightly suboptimal, but it is simpler and suffices if the crop field 15 is relatively small and/or the destination location 17 is relatively close-by.
At the destination location 17, which advantageously also serves as an automatic energy charging station and also as an automatic fertilizer mix filling station for the autonomous, unmanned fertilizing device 21 , the charging means 13 and the filling element 14 are provided. The charging means 13 can cooperate with the connector means 12 at the back of the body 2 of device 1. The fertilizer mix filling element 14 can cooperate with the pivotable inlet cover element 11 and the filling funnel 10 to fill up or refill the fertilizer mix tank 9. To that end, the fertilizer mix filling element 14 can be connected with a fertilizer reservoir (not shown) and also to a water reservoir (not shown). Thus, a mix of fertilizer and water can be introduced into the fertilizer mix tank 9. A (further) dilution of the fertilizer mix is rendered possible, enabling an exact adaptation to the current needs.
According to the invention, using the autonomous, unmanned device 1 and a control device, the following steps are performed repeatedly: a) automatically harvesting feed crop in a part of a crop field (15) by means of the autonomous, unmanned harvesting device (1 , 22); b) automatically loading the harvested feed crop into a storage space (6) provided on the autonomous, unmanned harvesting device (1 , 22); c) automatically fertilizing said part of the crop field (15) using an autonomous, unmanned fertilizing device (1 , 21); d) automatically transporting the feed crop from the crop field (15) to a destination location (17) by means of the autonomous, unmanned harvesting device (1 , 22); e) automatically unloading harvested feed from the storage space (6) of the autonomous, unmanned harvesting device (1 , 22) at the destination location (17).
In this way, an efficient, completely automated method is realized wherein harvested feed crop is delivered at destination location 17 and fertilizing takes place just after removing the crop from the soil, which is highly advantageous. With the system according to the invention, an efficient, multi-purpose and completely automatic system is realized.
The expected time to elapse before the next harvesting step in said part of the crop field 15 will be performed is determined, and the fertilizing step is controlled in dependence on the determined expected time to elapse before the next harvesting step in said part of the crop field 15 will be performed. In this way, automatic and dedicated fertilizing adapted to the current needs is rendered possible. Said expected time may depend on e.g. an amount of feed needed at an animal feeding station. It is noted that, of course, it is also possible to determine an entity equivalent to the expected time to elapse before the next harvesting step in said part of the crop field will be performed, such as an expected amount of crop growing in said part of the crop field before the next harvesting step (that is the time multiplied by the crop growth rate).
In this way, the device 1 can take into account when the relevant parcel of land will be revisited. If, for example, it is expected that the next harvesting run on the parcel will take place in 3 weeks, the expected amount of crop available at that time can be estimated, and the fertilizing step is performed accordingly. Should it take longer to execute the next run on the relevant parcel of land, then the fertilizer step can be adapted in the sense that more fertilizer or fertilizer mix is distributed, in order to avoid a very low protein level (depending on the amount of nitrogen fertilized) in the crop (e.g. grass).
By adjusting the fertilizing step to the expected crop growth on the relevant parcel of land (based upon known parameters such as the weather, historical data, the time in the season, the measured soil condition), the method and system according to the invention enable the user to automatically regulate the amount and the composition of the crop, which is, of course, highly desirable and advantageous. For example, an extremely high (or low) protein content or sugar content in the grass can thus be avoided. This is of great importance for the proper feeding of cows.
Furthermore, the fine-tuned fertilizing step gives environmentally friendly results. Controlling the protein content of the grass helps in reducing the ammonia output. Overfertilization and resulting nitrate washout is also avoided.
Adjusting the fertilizer mix can be done in various ways. The amount of fertilizer can be adapted, the amount of water added at the fertilizer mix filling station also. Besides, if a further water tank is provided on the fertilizing device 21 itself, a further on board dilution of the fertilizer mix is rendered possible. Correct dosing of the fertilizer (mix) is thus enabled in a simple way.
So, in accordance with a highly advantageous embodiment of the invention, the fertilizing step is controlled in dependence on the expected crop growth in said part of the crop field 15. Thus, the method is optimally adapted to the actual needs and circumstances. As discussed above, the expected crop growth can be dependent on the weather, on historical data, on the time in the season, on (measured) soil condition, etcetera.
The expected crop growth in said part of the crop field 15 is determined in dependence on the soil condition. This is an important parameter and its use has been proven to give excellent results. To this end, after the loading step and before the fertilizing step the soil condition is measured. This is very advantageous, as the soil can then be easily accessed.
An optical sensor for measuring the soil condition (not shown) is provided, e.g. a near infrared camera. Such a sensor (known as such) is suitable for measuring the temperature and/or the moisture content of the soil.
Also, a tactile sensor for measuring the soil condition (not shown) is provided. This represents a cheap solution (known as such) for determining the temperature, the moisture, the conductivity and/or the amount of fertilizer already present.
These sensor(s) can be advantageously positioned right after the automatic harvesting means 4, e.g. at the lower end of the automatic loading means 5, facing downwardly. In this position, the sensors have an optimal field of view.
A contactless measurement of the soil temperature, known as such, e.g. with the aid of an infrared camera, also enables the determination of the moisture content, by comparing the measured soil temperature with the ambient temperature. Thus, information on the soil condition and soil porousness is obtained. Alternatively, or in addition, other (known) sensors may be used, such as a microwave sensor, which enables the determination of soil moisture and/or soil mineral content. It is also possible to use a spectrum analyzer for analysis of the soil condition, at certain positions to be programmed by the user. All this information can be readily used to fine-tune the fertilizing step in the method according to the invention.
The tactile sensor(s) can also be used to determine the soil condition or to improve the accuracy of the soil condition determination.
Any fertilizers already or still available in the soil can be traced. This information can of course be used as feedback to compensate for any missing fertilizer components and thus further optimize the fertilizing step.
Advantageously, the amount and/or the quality of the actually harvested crop is determined and is compared to an expected amount and/or quality of the harvested crop in said part of the crop field 15, the fertilizing step also being controlled in dependence on the comparison, so as to compensate the difference in a next harvesting step. By measuring and compensating, the method is further improved and optimized. For example, the percentage of clover crops in the crop field 15 can be adapted to influence the feed quality.
In the fertilizing step a liquid mix of fertilizer diluted with water is used. This is safe for the user and also for the environment. Besides, the mix is easy to dose.
After the fertilizing step and before the next fertilizing step a fertilizer mix filling step is performed. In this way it is efficiently achieved that in every run the device 1 has exactly the right amount of fertilizer on board.
The fertilizer mix filling step is performed during an energy charging step for the autonomous, unmanned device 1. This is advantageous in that it is time-saving. The fertilizer mix filling step comprises as a final substep the topping up with water. Thus the filling system is efficiently rinsed every time at the end of the filling process. Besides, any leakage that might occur when the device 1 leaves the fertilizer mix filling station is not harmful to the environment.
The fertilizer mix filling step is performed making use of gravity. This is a very simple, yet efficient solution. There is enough time anyway and it results in a calm filling process.
As already described, the destination location 17 can be a feeding station for feeding a group of animals, the harvesting step then being performed in dependence on a determined expected feed demand at the feeding station. This constitutes a useful implementation and an efficient feeding method.
Figure 4 shows a fertilizer mix filling means according to the invention in a first position and Figure 5 shows a fertilizer mix filling means according to the invention in a second position.
The fertilizer mix filling means comprise a filling element 14 provided at the fertilizer mix filling station (in the embodiment shown this is at the destination location) suitable for cooperating with a pivotable inlet cover element 11 and a filling element 10 provided at the back side of the autonomous, unmanned device 1 . This constitutes a simple, yet very practical and efficient implementation.
When the autonomous unmanned fertilizing device 21 at the destination location 17 approaches (backs up to) the charging means 13 and the filling element 14, the respective elements are positioned and dimensioned such that charging means 13 and connector means 12 can click into place and connect, while at the same time filling element 14 cooperates with pivotable inlet cover element 11 and connects with filling element 10 for the fertilizer tank 9. The element 11 has a pivotable and spring-loaded connection to the back side of the body 2 of device 1.
Normally, in its closed position, as seen in Figure 4, it covers the inlet of the filling funnel element 10. Filling element 14 has an outlet element 18, which is connectable to a fertilizer reservoir and also to a water reservoir (both not shown for the sake of simplicity). The outlet element 18 is kept in a vertical position by means of a parallelogram linkage 19 which has a spring-loaded connection to the outlet element 18. As soon as the outlet element 18 touches and pushes against the inlet cover element 11 , the latter pivots downwardly against its spring load, allowing the outlet element 18 to enter the filling funnel element 10 by also pivoting downwardly against its spring load, with the help of the parallelogram linkage 19. This position can be seen in Figure 5. Now the fertilizer mix tank 9 can be filled or refilled with fertilizer and/or water. An opposite movement of the autonomous unmanned fertilizing device 21 releases the connections, so that the device 1 is ready for the next run.
The consistence, texture, density, water content, nutritional value and taste of the crop may vary widely due to weather conditions, season, field conditions, etcetera. Of course, also the feeding habits of a group of animals to be fed vary in time. For this reason, a fixed harvesting and feeding frequency would not be satisfactory. In contrast, the method according to the invention offers an automated, yet dedicated system.

Claims

1 . An agricultural method, using an autonomous, unmanned harvesting device (1 , 22) and a control device, comprising the following steps, which are performed repeatedly: a) automatically harvesting feed crop in a part of a crop field (15) by means of the autonomous, unmanned harvesting device (1 , 22); b) automatically loading the harvested feed crop into a storage space (6) provided on the autonomous, unmanned harvesting device (1 , 22); c) automatically fertilizing said part of the crop field (15) using an autonomous, unmanned fertilizing device (1 , 21); d) automatically transporting the feed crop from the crop field (15) to a destination location (17) by means of the autonomous, unmanned harvesting device (1 , 22); e) automatically unloading harvested feed from the storage space (6) of the autonomous, unmanned harvesting device (1, 22) at the destination location (17).
2. Method according to claim 1 , wherein the expected time to elapse before the next harvesting step in said part of the crop field (15) will be performed is determined, and the fertilizing step is controlled in dependence on the determined expected time to elapse before the next harvesting step in said part of the crop field (15) will be performed.
3. Method according to claim 1 or 2, wherein the fertilizing step is controlled in dependence on the expected crop growth in said part of the crop field (15).
4. Method according to claim 3, wherein the expected crop growth in said part of the crop field (15) is determined in dependence on the soil condition.
5. Method according to any one of claims 1 - 4, wherein after the loading step and before the fertilizing step the soil condition is measured.
6. Method according to any one of claims 1 - 5, wherein the amount and/or the quality of the actually harvested crop is determined and is compared to an expected amount and/or quality of the harvested crop in said part of the crop field (15), the fertilizing step also being controlled in dependence on the comparison, so as to compensate the difference in a next harvesting step.
7. Method according to any one of claims 1 - 6, wherein in the fertilizing step a liquid mix of fertilizer diluted with water is used.
8. Method according to claim 7, wherein after the fertilizing step and before the next fertilizing step a fertilizer mix filling step is performed.
9. Method according to claim 8, wherein the fertilizer mix filling step is performed substantially during an energy charging step for the autonomous, unmanned fertilizing device (1 , 21).
10. Method according to any one of claims 8 - 9, wherein the fertilizer mix filling step comprises as a final substep the topping up with water.
11. Method according to any one of claims 8 - 10, wherein the fertilizer mix filling step is performed making use of gravity.
12. Method according to any one of claims 1 - 11 , wherein the destination location (17) is a feeding station for feeding a group of animals, the harvesting step being performed in dependence on a determined expected feed demand at the feeding station.
13. A system for performing the method according to any one of claims 1 - 12 using a control device, an autonomous, unmanned harvesting device (1 , 22) provided with automatic driving means comprising wheels (3), automatic feed harvesting means (4), automatic feed loading means (5), a feed storage space (6), automatic feed unloading means, navigation means and using an autonomous unmanned fertilizing device (1 , 21) with automatic fertilizing means (7, 9, 10, 11) comprising a fertilizer mix tank (9) and fertilizer mix dosing means (7), an automatic energy charging station for the autonomous, unmanned fertilizing and/or harvesting device (1 , 21, 22), and an automatic fertilizer mix filling station for the autonomous, unmanned fertilizing device (1 , 21) with fertilizer mix filling means (14, 18, 19).
14. System according to claim 13, wherein the energy charging station and the fertilizer mix filling station are combined or integrated (17).
15. System according to any one of claims 13 - 14, wherein furthermore a water tank, connectable to the fertilizer mix tank (9), is provided.
16. System according to any one of claims 13 - 15, wherein an optical and/or a tactile sensor for measuring the soil condition is provided, e.g. a near infrared camera.
17. System according to any one of claims 13 - 16, wherein the fertilizer mix filling means (14, 18, 19) comprise a filling element (14) provided at the fertilizer mix filling station suitable for cooperating with a pivotable inlet cover element (11) and a filling element (10) provided at the autonomous, unmanned fertilizer device (1 , 21).
18. System according to any one of claims 13 - 17, wherein the autonomous, unmanned harvesting device (22) comprises the autonomous unmanned fertilizing device (21).
19. System according to claims 18, wherein the fertilizer mix dosing means (7) comprise a number of dosing nozzles, which are provided, seen in the direction of travel of the autonomous, unmanned harvesting device (1 , 22), behind the harvesting means (4) and before the wheels (3).
EP21729967.6A 2020-05-29 2021-05-27 Agricultural method and system for performing the method Pending EP4156897A1 (en)

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