Preventing damage by farming machine
A farming machine moves through a field and performs one or more farming actions (e.g., treating one or more plants) in the field. Portions of the field may include moisture, such as puddles or mud patches. A control system associated with the farming machine may include a traversability model and/or a moisture model to help the farming machine operate in the field with the moisture. In particular, the control system may employ the traversability model to reduce the likelihood of the farming machine attempting to traverse an untraversable portion of the field, and the control system may employ the moisture model to reduce the likelihood of the farming machine performing an action that will damage a portion of the field.
1 . A method for operating in a field with moisture by a farming machine with a wheel or track and a treatment mechanism configured to perform treatment actions to one or more plants in the field, the method comprising:
moving, by the farming machine, along a route in the field by the wheel or track;
identifying a first farming action to perform by the farming machine at a portion of the field, the identified first farming action to be performed as the farming machine moves through the portion along the route;
determining, by applying a traversability model to an image of the wheel or track of the farming machine, a traversability difficulty value for the portion of the field, the traversability model configured to:
determine, based on the image, a mud buildup on the wheel or track;
determine a measure of moisture for the portion of the field based on the determined mud buildup; and
determine the traversability difficulty value based on the measure of moisture;
determining a traversability capability value of the farming machine;
determining whether the traversability difficulty value is above the traversability capability value of the farming machine,
in response to the traversability difficulty value being above the traversability capability value of the farming machine, determining a second farming action for a next portion of the field, the second farming action modifying the first farming action; and
performing the second farming action in the field.
2 . The method of claim 1 , wherein the second farming action is performed instead of the first farming action.
3 . The method of claim 1 , wherein the second farming action comprises nullifying the first farming action such that the first farming action is not performed as the farming machine moves along the route.
4 . The method of claim 1 , wherein the second farming action includes at least one of: modifying the route or modifying a driving parameter of the farming machine.
5 . The method of claim 1 , wherein determining the measure of moisture is further based on diagnostic information from one or more sensors of the farming machine.
6 . The method of claim 1 , wherein determining the traversability capability value of the farming machine is based on characteristics describing the farming machine, the characteristics including at least one of: a wheel type, a wheel size, a tread type, an engine/motor type, a drive type, a make, a model, a weight, a fuel level, the treatment mechanism, and/or a coupling mechanism of the farming machine.
7 . The method of claim 1 , wherein determining the traversability difficulty value is further based on one or more types of soil in the portion of the field and a gradient of the portion of the field.
8 . The method of claim 1 , wherein the farming machine is autonomous.
9 . The method of claim 1 , wherein the traversability model is a weighted model.
10 . A farming machine comprising a wheel or track and a treatment mechanism configured to perform treatment actions to one or more plants in a field, the farming machine configured to:
move along a route in the field by the wheel or track;
identify a first farming action to perform at a portion of the field, the identified first farming action to be performed as the farming machine moves through the portion along the route;
determine, by applying a traversability model to an image of the wheel or track of the farming machine, a traversability difficulty value for the portion of the field, the traversability model configured to;
determine, based on the image, a mud buildup on the wheel or track;
determine a measure of moisture for the portion of the field based on the determined mud buildup; and
determine the traversability difficulty value based on the measure of moisture;
determine a traversability capability value of the farming machine;
determine whether the traversability difficulty value is above the traversability capability value of the farming machine,
in response to the traversability difficulty value being above the traversability capability value of the farming machine, determining a second farming action for a next portion of the field, the second farming action modifying the first farming action; and
perform the second farming action in the field.
11 . The farming machine of claim 10 , wherein the second farming action is performed instead of the first farming action.
12 . The farming machine of claim 10 , wherein the second farming action comprises nullifying the first farming action such that the first farming action is not performed as the farming machine moves along the route.
13 . The farming machine of claim 10 , wherein the second farming action includes at least one of: modifying the route or modifying a driving parameter of the farming machine.
14 . The farming machine of claim 10 , wherein determining the traversability difficulty value is further based on diagnostic information from one or more sensors of the farming machine.
15 . The farming machine of claim 10 , wherein determining the traversability capability value of the farming machine is based on characteristics describing the farming machine, the characteristics including at least one of: a wheel type, a wheel size, a tread type, an engine/motor type, a drive type, a make, a model, a weight, a fuel level, the treatment mechanism, and/or a coupling mechanism of the farming machine.
16 . The farming machine of claim 10 , wherein determining the traversability difficulty value is further based on one or more types of soil in the portion of the field and a gradient of the portion of the field.
17 . One or more non-transitory computer-readable storage mediums storing instructions that, when executed by a set of one or more processors, causes the set of one or more processors to:
cause a farming machine to move along a route in a field, the farming machine comprising a wheel or track and a treatment mechanism configured to perform treatment actions to one or more plants in the field;
identify a first farming action to perform at a portion of the field, the identified first farming action to be performed as the farming machine moves through the portion along the route;
determine, by applying a traversability model to an image of the wheel or track of the farming machine, a traversability difficulty value for the portion of the field, the traversability model configured to:
determine, based on the image, a mud buildup on the wheel or track;
determine a measure of moisture for the portion of the field based on the determined mud buildup; and
determine the traversability difficulty value based on the measure of moisture;
determine a traversability capability value of the farming machine;
determine whether the traversability difficulty value is above the traversability capability value of the farming machine,
in response to the traversability difficulty value being above the traversability capability value of the farming machine, determine a second farming action for a next portion of the field, the second farming action modifying the first farming action; and
perform the second farming action in the field.