AUTOMATIC SCALING OF ROWS OF MOVEMENT FOR AN OFF-ROAD VEHICLE Russian patent published in 2020 - IPC A01B69/04 G05D1/02 

FIELD: agriculture.

SUBSTANCE: control system for an off-road vehicle comprises a storage device storing instructions and a processor. Processor is configured to execute commands, causing the processor to determine whether the first contour of the first field edge differs from the second contour of the second field edge, which is located on the opposite side of the field from the first edge, and if the first contour is different from the second contour, determine pre-planned route of movement along field of off-road vehicle. Pre-planned route includes an off-road vehicle first pass, which follows the first circuit at the first edge, subsequent passes of the off-road vehicle for gradual movement from the first circuit to the second outline using partial overlaps of the gun passes, towed or built-in off-road vehicle, and the last passage of an off-road vehicle, which follows the second contour at the second edge. Processor is configured to control an off-road vehicle to pass the field at least partially based on a pre-planned route. Off-road vehicle control system comprises storage device storing commands and processor. Processor is configured to execute commands which cause the processor to determine whether the field width is not an integer multiple of the width of the gun bar, and if field width is not equal to integer multiple of strip width, to determine route to create overlapping passages of rows so that field width is equal to whole number, multiple parts without overlapping each pass. Creating overlapping includes determination of overlapping width depending on width of field and width of strip. Processor is configured to control passage of an off-road vehicle across the field at least partially based on the route. Method for controlling an off-road vehicle on a field includes mapping a field by a processor, using the device for determining the off-road vehicle location in space, determining by means of the processor using the map data whether the field width is not an integer multiple of the band width of the gun. If field width is not equal to integer multiple of strip width, determination by route processor to create overlapping passages of rows, so that the field width is equal to a whole number, to multiple parts without overlapping each pass, at that the width of the overlapping is created on the basis of at least partially relation between the width of the band and the width of the field. Control by means of processor of off-road vehicle to pass the field at least partially on the basis of route.

EFFECT: higher efficiency of field operations.

20 cl, 7 dwg