	US 12,108,736 B2
	Method and control arrangement for operating an autonomous agricultural vehicle
Marek Brink, Tumba (SE); Bartlomiej Jaklik, Tumba (SE); and Bartlomiej Slusarczyk, Tumba (SE)
Assigned to DeLaval Holding AB, Tumba (SE)
Appl. No. 17/780,802
Filed by DELAVAL HOLDING AB, Tumba (SE)
PCT Filed Nov. 24, 2020, PCT No. PCT/SE2020/051115 § 371(c)(1), (2) Date May 27, 2022, PCT Pub. No. WO2021/107838, PCT Pub. Date Jun. 3, 2021.
Claims priority of application No. 1951367-0 (SE), filed on Nov. 28, 2019.
Prior Publication US 2022/0408684 A1, Dec. 29, 2022
Int. Cl. A01K 1/01 (2006.01); A01B 69/04 (2006.01); G05D 1/00 (2006.01)

CPC A01K 1/01 (2013.01) [A01B 69/008 (2013.01); G05D 1/0217 (2013.01)]

19 Claims

1. A method for operating an autonomous agricultural vehicle that includes a cleaning device and a load sensor, the method comprising:

while operating the autonomous agricultural vehicle in accordance with a cleaning plan, monitoring by the load sensor at a plurality of individual times a load quantity representing an amount of manure moved by the cleaning device, wherein the cleaning plan defines at least one of a cleaning schedule and one or more cleaning routes of the autonomous agricultural vehicle;

adjusting the cleaning plan of the autonomous agricultural vehicle based on a variation in the monitored load quantity among the plurality of individual times; and

moving the manure in a livestock area in accordance with the cleaning plan.