PROCEDIMENTO DE DETERMINAÇÃO SEMIAUTOMÁTICA DOS PERCURSOS DE PELO MENOS UM ROBÔ AGRÍCOLA PARA TRABALHAR UMA PARCELA

Abstract

The present invention relates to a method for determining semi-automatically the routes and paths to be followed by at least one agricultural robot (1) to completely work a given plot (P). This method consists in computing paths parallel to an initial reference orientation (OR1), in determining one or more non-optimal areas (Z2), in defining another reference orientation (ORi), and in computing paths (Ti) that are parallel thereto for each of the one or more non-optimal areas, in repeating these operations if necessary, and in viewing at least one proposed configuration of the movements projected for the entire plot.

Description

1 / 9 “SEMI-AUTOMATIC DETERMINATION PROCEDURE OF THE PATHS OF AT LEAST ONE AGRICULTURAL ROBOT TO WORK A PLOT”

[001] The present invention relates to the field of agricultural machinery and, more particularly, to the working of the soil or vegetation of an agricultural plot by at least one autonomously functioning agricultural device or machine, that is, capable of working that plot without the assistance of an operator, except in the case of occasional intervention, and preferably without being under the control of a central command. Such a device is often called an agricultural robot and corresponds to a mobile and motorized agricultural machine or hitch, equipped with at least one tool (integrated, onboard, semi-onboard or towed) and composed of integrated means (of piloting, communication, location, etc.) that make it capable of working a plot autonomously, if necessary, in cooperation with at least one other device that performs the same type of work or not.

[002] In this context, the invention aims at a semi-automatic procedure for determining the passages and paths to be taken by at least one agricultural robot to fully work a certain plot.

[003] Such an agricultural robot can be used alone to work a plot or be part of a fleet of at least two robots designated for that plot. This robot can operate completely independently after parameterization and programming (before the start of work in the field, directly by a user on site or remotely via a central command and management system). The robots in a fleet may or may not communicate with each other and, if so, can be assigned to work a predetermined part of the plot.

[004] Typically, an agricultural plot is worked by going back and forth within it. In agricultural robotics, the paths traveled by the machines are often generated in advance, in the form of predicted and pre-calculated routes or passages. These routes are generally (at least within the cultivated area of ​​the plot) straight lines parallel to an edge of that plot, called the reference edge, if possible, but not necessarily, chosen in a straight line. These straight lines (routes or passages) are spaced apart by the working width of the tool or tools of the agricultural robot in question.

[005] This solution is simple to implement and well suited for plots with basic geometric shapes (e.g., rectangles, squares, and quadrilaterals) or Petition 870250082263, dated 12 / 09 / 2025, page 9 / 54 2 / 9 at least that do not have a concave or non-straight edge. But when a plot has a more complex shape, incorporates an obstacle and / or has some relief or risk zones (which is often the case in real situations), then the trajectories are not necessarily optimized (in terms of number, length, safety during work, unworked displacements, etc.) if they are all parallel to a single orientation or direction or to a single reference edge (see, for example, Figure 1A).

[006] From document US10459447, we know of a procedure for planning trajectories of agricultural robots to perform terracing, which consists of defining one or more plot divisions, determining sets of terracing trajectories by means of multiple angular increments, calculating the difference in length between the longest and shortest trajectories for each set and retaining the set of trajectories that presents the weakest difference.

[007] From document EP2446725, we know a procedure for determining a planned route for a vehicle, which consists of delimiting a parcel by means of linear segments and concave connecting nodes, identifying the concave areas of this parcel, subdividing the parcel into sectors by lines in relation to the aforementioned nodes, determining a reference direction for the trajectories and defining the working routes in the sectors and the interconnection routes between these sectors.

[008] These known procedures are, systematically, fully automatic, identify a complex methodology that, firstly, divides the parcel in question, cannot be partially performed by the user and do not provide for validation or even a final choice on the part of that user.

[009] The present invention aims to reduce at least the main drawbacks of this invention.

[010] For this purpose, it aims at a semi-automatic procedure for determining the passages and routes to be taken by at least one agricultural robot to work a certain plot in its entirety, with such procedure comprising the following steps: - a) to define, automatically or by user, an initial reference orientation, advantageously in accordance with a reference boundary of the parcel in question, - b) calculate the paths parallel to the initial reference orientation, in order to cover the entire plot, Petition 870250082263, dated 12 / 09 / 2025, page 10 / 54 3 / 9 - c) automatically detect one or more zones of the plot, with i varying from 2 to n, with n > 2, with the non-ideal zone(s), in which the evaluation with respect to at least one predefined performance criterion in terms of path and / or work, of the planned paths according to the initial reference orientation and the resulting configuration of the projected displacements, does not exceed a limit value or does not reach a predetermined ideal value, respectively, - d) automatically define at least one other reference orientation for the subideal zone(s), - e) calculate, for one or each non-ideal zone, the paths parallel to at least one other reference orientation defined for the non-ideal zone considered, in order to cover the entire non-ideal zone each time, - f) if applicable, repeat steps (d) and (e) for a certain non-ideal zone, defining a different reference orientation each time, until at least one proposed route is reached for that non-ideal zone and the evaluation with respect to at least one performance criterion reaches an ideal value, - g) visualize the plot with at least one proposed configuration of the projected displacements for the agricultural robot(s) in the different zones with specific path orientations for each one, with these different zones, with i varying from 1 to an, together covering the entire area of ​​the plot.

[011] The invention will be better understood thanks to the following description, which refers to a preferred embodiment, given by way of non-limiting example and explained with reference to the accompanying schematic drawings, in which:

[012] A [Fig. 1A] is a schematic top view of a plot for which the predicted paths of an agricultural robot have been determined with respect to a single reference edge and according to a single orientation;

[013] As [Fig. 1B] and [Fig. 1C] are views identical to that of Figure 1A of the same plot, with a determination of paths according to the procedure according to the invention and the implementation of two reference edges or orientations;

[014] A [Fig. 2],

[015] a [Fig. 3] and

[016] and [Fig. 4] are schematic top views of two other plots for which the predicted paths of an agricultural robot were determined using the procedure according to the invention, with respect to at least three edges or Petition 870250082263, dated 12 / 09 / 2025, p. 11 / 54 4 / 9 reference guidelines.

[017] Figures 1B, 1C and 2 to 4 illustrate, according to the invention, the application to different geometric shapes and topographies of plots (P) of the semi-automatic procedure for determining passages and paths (T) to be carried out by at least one agricultural robot (1) to fully work a certain plot (P).

[018] According to the invention, this procedure essentially comprises the following steps: - a) define, automatically or by means of a user (U), an initial reference orientation (OR1), advantageously in accordance with a reference edge (BR1) of the parcel (P) in question, - b) calculate the paths (T1) parallel to the initial reference orientation (OR1), in order to cover the entire parcel (P), - c) automatically detect one or more zone(s) (Zi) of the plot (P), with i varying from 2 to n, with n > 2, with the zone(s) (Zi) being non-ideal, where the evaluation with respect to at least one predefined performance criterion in terms of path and / or work of the paths (T1) planned according to the initial reference orientation (OR1) and the resulting configuration of the projected displacements, not exceeding a limit value or not reaching a predetermined ideal value, respectively, - d) automatically define at least one other reference orientation (ORi) for zone (Z2) or for each (Z2 to Zn) of the non-ideal zone(s) (Zi), - e) calculate, for each non-ideal zone (Zi), the paths (Ti) parallel to at least one other reference orientation (ORi) defined for the non-ideal zone (Zi) considered, in order to cover the entire non-ideal zone (Zi) each time, - f) if applicable, repeat steps d) and e) for a certain non-ideal zone (Zi), defining a reference orientation (ORi) that is different each time, until at least one proposed route (Ti) is reached for that non-ideal zone (Zi), whose evaluation with respect to at least one performance criterion reaches an ideal value, - g) visualize the plot (P) with at least one proposed configuration of the projected displacements for the agricultural robot(s) (1) in the different zones (Zi) with orientations (ORi) of the specific paths (Ti) of each one, with these different zones (Zi), with i varying from 1 to an, together covering the entire area of ​​the plot (P). Petition 870250082263, dated 12 / 09 / 2025, p. 12 / 54 5 / 9

[019] Thanks to this combination of particular characteristics, the procedure according to the invention allows for the determination of an optimized configuration of the routes to be taken to work the entire plot in question (P), with the initial orientation (OR1) being automatically defined by means of adapted software (notably following a cartographic or geometric analysis of the plot; for example: OR1 = direction of the longest straight line that can be drawn on that plot) or manually by the user (U). When defining this initial orientation, knowledge acquired during previous work campaigns may also be considered.

[020] Furthermore, this progressive, guided approach to determining orientations and then work routes in non-ideal zones makes it possible to sensitively explore and evaluate all possible options in terms of proposed route configurations (obviously, routes T1 are maintained for the rest of the plot (= plot - non-ideal zones), as an ideal route configuration).

[021] The same orientation (ORi) can eventually be applied to several distinct constituent zones of the parcel, which are not connected to each other (see OR3 applied to Z3 and Z4 in Figure 4).

[022] According to a preferred presentation, the visualization of the proposed displacement configuration(s) designed for the agricultural robot(s) (1) in the plot (P) divided into n zones (Zi) is performed in an interactive graphical interface (2) and is characterized by this proposal, possibly picked from several after a justified selection, being submitted to validation by a user (U) before being transmitted to the agricultural robot(s) (1), if applicable, through a centralized management system for the latter. Thus, the user regains control and decides which configuration will be implemented, if applicable, after having defined the initial orientation (step a).

[023] Advantageously, and notably when performed automatically, the definition of the initial reference orientation (OR1) is carried out after considering the topographic and geometric characteristics of the parcel (P), using at least one evaluation criterion chosen from the following: a certain number of projected paths (T1), for example, a minimum number; a certain number of half-turns, for example, a minimum number; an uninterrupted path (T) from edge to edge as long as possible, and, if applicable, straight; at least one optimized statistical parameter in the population of projected path lengths (T1), for example, Petition 870250082263, dated 12 / 09 / 2025, p. 13 / 54 6 / 9 variation, mean and / or median; and knowledge that a weighting of the criteria may eventually be applied when at least two of these are used.

[024] Preferably, the evaluation criterion(s) used to detect zones (Zi) as not being traversable and / or worked on in a sufficiently efficient manner in relation to the initial route (T1) forecast is / are chosen from the following: topography and / or geometry of the plot (P); an average value of the route lengths, which is as long as possible; the fewest possible number of half-turns; and at least one optimized statistical parameter on the set of projected route lengths (T1), for example, variation, mean and / or median, and a weighting of the criteria may be applied when at least two of these are used.

[025] If applicable, the weighting used when multiple evaluation criteria are implemented allows prioritizing one or more of these criteria, considered to be more important than the others.

[026] The routes (Ti) planned in two zones (Zi) that touch may tend to overlap and cross each other in a junction region (RJ) between these two zones. To avoid this disruptive phenomenon, it is possible to manage the configuration of the routes in these regions automatically or through user intervention.

[027] Thus, and as Figures 1C and 2 to 4 demonstrate, the procedure consists of defining limits (L) at the level of the junction regions (RJ) between two adjacent zones, between the different n zones (Zi) that cover the entire area of ​​the plot (P), prioritizing as criterion(s) a minimum number of paths (Ti), with i varying from 1 to an, to cover the entire plot (P) and / or a minimum number of half-turns within that plot (P).

[028] Preferably, the definition of each boundary (L) at the junction region (RJ) level between two adjacent zones (Zi), with i varying from 1 to an, is performed by connecting two opposite points (P1, P2) of the peripheral edge surrounding the parcel (P) or by extending the traces (Ti) of a zone (Zi) from the peripheral edge to its intersection with another trace (Ti) of another zone (Zi), with this definition of the boundaries being, if applicable, performed automatically or manually by a user (U) through an interactive graphical interface (2).

[029] A boundary (L), which may or may not be rectilinear, consists, for example, of at least part or all of a boundary path (Ti), foreseen in one of the two Petition 870250082263, dated 12 / 09 / 2025, p. 14 / 54 7 / 9 adjacent zones (Zi): it then presents a real existence. However, such a boundary (L) can also have a virtual nature, defining a virtual border between two adjacent zones (Figure 4).

[030] In order to better consider the actual situation on the ground and, in particular, the factors that disrupt the homogeneity and continuity of the work to be carried out, this consideration can be determined during phases a), b), d) and e), based on augmented cartographic data of the plot (P), and define the initial reference orientation (OR1), and at least one other possible reference orientation (ORi), as well as subsequently calculate the tracings (T1, Ti): one or more obstacles (O) possibly present on the plot (P) and / or one or more risk zones (ZR) possibly present on the plot (P) and / or the direction of movement foreseen during a subsequent agricultural operation (see Figures 2, 3 and 4).

[031] Notably, due to its geometry, an obstacle (O) can determine an orientation or a reference edge for the calculation of layouts. Furthermore, in the case of a risk zone (ZR), a specific orientation (ORR) can be determined for that zone and paths (TRR) can be generated that minimize the risk incurred (Figure 4).

[032] As a complementary or alternative method, and in order to take into account the relief of the plot to be worked on, one can determine to consider the three-dimensional topographic data of the plot (P) in question, identify the zone(s) (ZDj) that may eventually be on a slope and whose inclination is greater than a predetermined limit value and impose a reference orientation (ODj) for the orientation of the paths (TDj), with j > 0, to be calculated for the agricultural robot(s) (1) in each zone (ZDj) mentioned above (see Figure 3).

[033] In order to guide the user’s (U) final choice between the submitted proposals and, in particular, to inform about the risks related to safety, it may be determined to inform the user (U), if applicable, that at least one of the proposed configurations of the movements designed for the agricultural robot(s) (1) is dangerous due to a slope or other identified risk, or is not ideal for the subsequent agricultural operation.

[034] As Figure 3 shows, by way of example, the procedure may consist, in the case of at least one portion (PC) of the parcel (P) boundary that is not rectilinear, of generating lines (TC) parallel to that portion (PC) of the boundary and defining a zone (ZC), with the extent of each of the lines (TC) being limited by their intersection. Petition 870250082263, dated 12 / 09 / 2025, p. 15 / 54 8 / 9 with the edge of the plot (P) and / or with a straight line (Ti).

[035] More generally, when the reference orientation (OR1) and / or when another subsequent reference orientation (ORi) is associated with a non-rectilinear reference edge (BR1, BRi), the calculated paths (T1, Ti) follow the edge's path in a parallel manner, therefore, along a non-rectilinear path.

[036] The invention also aims at a procedure for treating a plot (P) by means of at least one agricultural robot (1), characterized by comprising a preliminary phase of parameterization and programming, which comprises at least one semi-automatic procedure for determining the passages and paths (T) to be performed, as described above.

[037] After its automatic or semi-automatic definition and the final selection made by the user, the configuration proposal of the selected paths (Ti) is sent to the robot(s) (1) so that it / they can perform the programmed work on the plot (P) in question, with the calculation operations and the transmission of the configuration being carried out, for example, by a supervisory system or a mobile terminal available to the user.

[038] The actual execution of the work on the plot may be carried out subsequently, for example, notably in accordance with the procedures described in the applicant's documents FR3119508, FR3114218, FR3114217, FR3119507 and FR3122063.

[039] As a practical example of the procedure's development, consider the following: the user connects to an internet application via their computer / tablet / smartphone. Then, they access a list of existing plots to which a new plot can be added if necessary. They retrieve (using data measured on the ground) or manually draw the outer outline of their plot. The steps of the process according to the invention described above are then carried out. The result of this procedure is a file containing the geometry (line configuration) generated by the user. This file can be distributed to the robot(s), which will implement it using supervisory software that will generate command orders for it / them.

[040] Since existing software can be used by the invention to perform certain tasks or operations in the context of a practical implementation of the procedure described above, either directly or by adapting its implementation to the needs of the invention, we can cite the software Petition 870250082263, dated 12 / 09 / 2025, page 16 / 54 9 / 9 known software programs that allow importing and / or drawing plot or field maps from satellite imagery, generating optimized parallel guidance lines, and exporting them to a terminal for subsequent use by an autonomously guided tractor (for example, the Geo-Bird software from AGCO, or the FieldPlanner software from Lacos Computer Service). Notably, these software programs must be adapted or implemented with respect to multiple reference edges or directions. We can also mention other software programs that allow generating a set of parallel lines along a reference line (for example, the CCI.Command and Parallel Tracking functions of the CCI Terminal).

[041] Obviously, the invention is not limited to the presentation described and represented in the attached drawings. Modifications remain possible, notably from the point of view of the constitution of the various elements or by means of substitution by technical equivalents, without, therefore, departing from the scope of the invention's protection. Petition 870250082263, dated 12 / 09 / 2025, page 17 / 54

Claims

1 / 4 CLAIMS 1. A SEMI-AUTOMATIC PROCEDURE FOR DETERMINING THE PASSAGES AND PATHS (T) TO BE TAKEN BY AT LEAST ONE AGRICULTURAL ROBOT (1) TO WORK ON THE ENTIRETY OF A CERTAIN PLOT (P), with such procedure characterized by comprising the following steps: - a) defining, automatically or by means of a user (U), an initial reference orientation (OR1), advantageously in accordance with a reference edge (BR1) of the plot (P) in question, - b) calculating the paths (T1) parallel to the initial reference orientation (OR1), so as to cover the entire plot (P), - c) automatically detecting one or more zones (Zi) of the plot (P), with i varying from 2 to n, with n > 2, with the zone(s) (Zi) not ideal(s), in which it is evaluated with respect to at least a predefined performance criterion in terms of route and / or work the planned paths (T1) according to the initial reference orientation (OR1) and the resulting configuration of the planned displacements,not exceeding a limit value or not reaching a predetermined ideal value, respectively, - d) automatically define at least one other reference orientation (ORi) for the zone (Z2) or each of the zones (Z2 to Zn) (Zi) that are not ideal(s), - e) calculate, for each non-ideal zone (Zi), the paths (Ti) parallel to at least one other reference orientation (ORi) defined for the considered non-ideal zone (Zi), so as to cover each time the entire non-ideal zone (Zi), - f) repeat, if necessary, steps d) and e) for a certain non-ideal area (Zi), defining a reference orientation (ORi) that is different each time, until at least one proposed path (Ti) is reached for that non-ideal zone (Zi), whose evaluation in relation to at least one performance criterion reaches an ideal value,- g) visualize the plot (P) with at least one proposed configuration of the projected displacements for the agricultural robot(s) (1) in the different zones (Zi) with the orientations (ORi) of the specific paths (Ti) of each one, with these different zones (Zi), with i varying from 1 to an, together covering the entire area of ​​the plot (P). Petition 870250082263, dated 12 / 09 / 2025, p. 18 / 54 2 / 4, 2. PROCEDURE according to claim 1, characterized by the visualization of the proposed configuration(s) of the projected displacements of the agricultural robot(s) (1) in the plot (P) divided into n zones (Zi) being carried out in an interactive graphical interface (2) and by the proposal, possibly picked from among several after a justified selection, being submitted to validation by a user (U) before being transmitted to the agricultural robot(s) (1), if applicable, through a centralized management system for the latter.

3. PROCEDURE according to claim 1 or 2, characterized by the definition of the initial reference orientation (OR1) being carried out, considering the topographic and geometric characteristics of the parcel (P), using at least one evaluation criterion chosen from the following: a certain number of projected paths (T1), for example, a minimum number; a certain number of half-turns, for example, a minimum number; a path (T) interrupted from edge to edge as long as possible, and, if applicable, straight; at least one optimized statistical parameter in the set of projected path lengths (T1), for example, variation, mean and / or median; knowing that a weighting of the criteria may eventually be applied when at least two of these are used.

4. PROCEDURE according to any one of claims 1 to 3, characterized by the evaluation criterion(s) used to detect zones (Zi) as not being susceptible to being traversed and / or worked in a sufficiently efficient manner in relation to the initial prediction of the paths (T1), among the following: the topography and / or geometry of the plot (P); an average value of the lengths of the longest possible path; a minimum possible number of half-turns; at least one optimized statistical parameter in the set of projected path lengths (T1), for example, variation, mean and / or median; and a weighting of the criteria that may eventually be applied when two or more of these are used.

5. PROCEDURE according to any one of claims 1 to 4, characterized by consisting of defining limits (L) at the level of the junction regions (RJ) between two adjacent zones, between the different n zones (Zi), which cover the entire area of ​​the parcel (P), favoring a minimum number of paths (Ti), with i varying from 1 to an, to cover the entire parcel (P) and / or a minimum number of half-turns within the parcel (P) as criterion(s).

6. PROCEDURE according to claim 5, characterized by Petition 870250082263, dated 12 / 09 / 2025, p. 19 / 54 3 / 4 performing the definition of each boundary (L) in the junction region (RJ) between two adjacent zones (Zi), with i varying from 1 to an, either connecting two opposite points (P1, P2) of the peripheral edge around the parcel (P), or extending the traces (Ti) of a zone (Zi) from the peripheral edge to its intersection with another trace (Ti) with a much greater extension of another zone (Zi), with this definition of the boundaries being performed, if applicable, automatically or manually by a user (U) through an interactive graphical interface (2).

7. PROCEDURE according to any one of claims 1 to 6, characterized by consisting of considering, during steps a), b), d) and e), and based on augmented cartographic data of the plot (P), and defining the initial reference orientation (OR1) and at least one other eventual reference orientation (ORi), as well as calculating the subsequent layouts (T1, Ti): one or more obstacles (O) possibly present on the plot (P) and / or one or more risk zones (ZR) possibly present on the plot (P) and / or the direction of travel foreseen during a subsequent agricultural operation.

8. PROCEDURE according to any one of claims 1 to 7, characterized by consisting of considering three-dimensional topographic data of the plot (P) in question, identifying the zone(s) (ZDj) that may be on a slope and whose inclination is greater than a predetermined limit value and imposing a reference orientation (ODj) for route orientation (TDj), with j > 0, to be calculated for the agricultural robot(s) (1) in each aforementioned zone (ZDj).

9. PROCEDURE according to any one of claims 1 to 8, characterized in that it consists of informing the user (U), if applicable, that at least one of the proposed configurations of the displacements designed for the agricultural robot(s) (1) is dangerous due to a slope or other identified risk or is not ideal for the subsequent agricultural operation.

10. PROCEDURE according to any one of claims 1 to 9, characterized by consisting, in the case of at least one portion (PC) of the parcel (P) border not being rectilinear, in generating traces (TC) parallel to the portion of the border (PC) and defining a zone (ZC), with the extent of each trace (TC) being limited by its intersection with the parcel (P) border and / or a rectilinear trace (Ti).

11. A PROCEDURE FOR TREATING A PLOT (P) BY MEANS OF AT LEAST ONE AGRICULTURAL ROBOT (1), characterized by including a preliminary parameterization and programming phase comprising at least one semi-automatic passage and route determination procedure (T) to be performed under any of claims 1 to 10.

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