Methods for setting up and / or calibrating agricultural machinery

Abstract

The present invention relates to a method for setting up and / or calibrating a mobile and maneuverable agricultural machine or combination thereof, referred to as an agricultural robot (1), which is equipped with at least one tool (2) and is capable of autonomously operating on a plot of land (3). The method is characterized in that it includes, particularly at the start of an operation phase on a new plot, and after a request from an operator (5) or verification of the request by the operator (5), temporarily operating the robot (1) in a semi-autonomous mode, during which, after confirmation by the operator (5), at least one operating parameter of the robot (1) and / or at least one tool (2) is managed and adjusted by the operator (5), the robot (1), or the tool (2), or a combination of the three, in order to set or calibrate the operating parameter for a subsequent autonomous operation phase.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and more specifically, to the field of working with the soil or vegetation of a plot of land by means of an autonomously driven agricultural vehicle, i.e., an agricultural vehicle capable of working on a plot of land without the assistance of an operator. Such a vehicle is generally referred to as an agricultural robot and corresponds to a mobile and motorized agricultural machine or assembly equipped with at least one tool (integrated, mounted, semi-mounted, or towed) and including means (drive, communication, location determination, etc.) that enable it to work on the plot of land autonomously.

[0002] In this context, the present invention relates to methods for setting up and / or calibrating such agricultural robots, as well as methods for operating such robots. Background Technology

[0003] This agricultural robot can be used to work on a plot of land independently, or as part of a fleet of at least two robots assigned to the plot. For example, the robot can operate completely independently (using a prescription map, GPS, etc.), or it can be remotely controlled by a central remote control system for controlling the robot fleet. The robots in the fleet may or may not communicate with each other, and, where applicable, can be assigned to work on predetermined portions of the plot.

[0004] Typically, as with conventional, non-autonomous agricultural operations carried out entirely under operator control, performing agricultural tasks or operations on a plot of land using autonomous agricultural machinery generally involves three main steps.

[0005] The first step, carried out by the operator, involves bringing the agricultural robot and its tools to the plot to be treated, performing any possible installation or assembly operations required to configure the robot for the operation to be performed, and positioning it at the starting point of the route.

[0006] The second step involves setting up and / or calibrating the robot and its tools. In fact, their operating parameters must be set so that they match as closely as possible to the actual working conditions and characteristics of the site to be worked on that day (humidity, temperature, wind, soil type and conditions, density and quality of the plants to be treated, nature and intensity of the agricultural operations to be performed, etc.). These parameters cannot be pre-set and therefore must be set on-site through trials and tests based on the actual conditions. Typically, depending on the complexity of the setup and calibration and the number of parameters involved, several test cycles are required, each cycle involving enabling the robot to operate autonomously over a short distance using a set of settings.

[0007] At the end of each of these cycles or consecutive cycles, the operator verifies or rejects the settings based on the quality of the work performed (visual inspection). The operator can visually inspect the quality of the performed work by directly observing the plot or indirectly using at least one camera present on the robot and / or at least one tool. The operator can then analyze the images captured by the camera on a mobile control device. If the quality of the work is insufficient, this results in a new test cycle using the new settings, or if the quality of the work is deemed satisfactory, it results in the continuation or restart of the work on the plot. In the third step, executed entirely in autonomous mode, the robot performs agricultural work using the latest verified settings and following a predetermined route, either independently or guided by a remote control system. Summary of the Invention

[0008] In this context, the present invention aims to provide a solution that enables the setting and / or calibration of at least one operating parameter of at least one agricultural robot according to actual field conditions. This solution is more efficient than current solutions and avoids the need for an autonomous operating mode to interrupt the setting and / or calibration phase (especially, where applicable, repeating it as in the prior art described above).

[0009] Therefore, the present invention relates to a method for setting up and / or calibrating a mobile and motorized agricultural machine or combination (hereinafter referred to as an agricultural robot), the method being equipped with at least one tool and adapted for autonomous operation of a plot of land, characterized in that the robot is temporarily operated in a semi-autonomous mode when a work phase begins on a new plot of land, when an interrupted work phase is resumed on a given plot of land that has already been partially operated, in the event of substantial modification of the characteristics of the plot during autonomous operation, and / or in the event of a significant deterioration in the quality of the work performed by the agricultural robot during autonomous operation, and after verification of the request of the operator or the request of the operator (5), during which at least one operating parameter of the robot and / or the at least one tool is managed and adjusted by the operator or the robot, or the tool, or a combination of the three, so as to set or calibrate it for the next autonomous work phase after operator verification.

[0010] The present invention also relates to a method for putting agricultural robots into operation to perform field operations by integrating the above-described settings and / or calibration methods. Attached Figure Description

[0011] The invention will be better understood from the following description, which refers to preferred embodiments given by way of non-limiting example and explained with reference to the accompanying drawings, wherein:

[0012] Figure 1This is a schematic top view of a plot of land according to the method of the present invention, on which an agricultural robot, together with an operator, operates on an initial portion of the plot in semi-autonomous mode and during a phase of setting and / or calibrating at least one operating parameter.

[0013] Figure 2 Indicates that it is at a later time and is in Figure 1 The parameters set and calibrated at the end of the phase shown were performed by an agricultural robot operating in autonomous mode. Figure 1 The plot of land, and Figure 1 A second robot, with similar and shared parameter settings and calibrations, autonomously... Figure 2 Work was carried out on another part (right side) of the same plot of land;

[0014] Figure 3A and Figure 3B This refers to a plot of land divided into two areas with different characteristics or operating at different times. The first sub-area operates with the first setting and calibration of operating parameters, and a new operating phase in semi-autonomous mode corresponding to the new setting and calibration phase ( Figure 3A Following that, the second largest area utilizes agricultural robots for autonomous operations. Figure 3B ),

[0015] Figure 4 A flowchart illustrating an embodiment of the method according to the present invention is shown. Detailed Implementation

[0016] exist Figure 1 In Figure 3, the routes that the robot still needs to cover in autonomous operation mode are represented by single-dot lines, and the routes that have already been covered in autonomous operation mode are represented by single continuous (solid) lines. In these same diagrams, the routes that the robot still needs to cover in semi-autonomous operation mode (setting and / or calibration mode) are represented by double-dot lines, and the routes that have already been covered in semi-autonomous operation mode are represented by double continuous (solid) lines.

[0017] Figures 1-4 It is a diagrammatic or symbolic representation of a method for setting up and / or calibrating a mobile and motorized agricultural machine or assembly equipped with at least one tool (2) and adapted to autonomously operate on a plot of land (3), the agricultural machine or assembly being referred to below as an agricultural robot (1).

[0018] According to the present invention, the method is characterized in that it includes temporarily operating the robot (1) in a semi-autonomous mode when starting a work phase on a new plot, when resuming an interrupted work phase on a given plot that has already been partially worked, in the case of significant modification of plot characteristics during autonomous work and / or in the case of significant deterioration of the quality of work performed by the agricultural robot (1) during autonomous work, and after the request of the operator (5) or verification of the request of the operator (5), during which at least one operating parameter of the robot (1) and / or the at least one tool (2) is managed and adjusted by the operator (5), by the robot (1), by the tool (2) or by a combination of the three, so as to set or calibrate it for the next autonomous work phase after verification by the operator (5).

[0019] Therefore, the present invention provides a specific operating mode for an agricultural robot (1) in which the operator (5), the robot (1) itself, the tool (2) itself, or a combination of the three, can set and / or calibrate at least one operating parameter (obviously suitable for being set or calibrated) on-site, according to actual conditions, directly, in real time, and through the operator’s visual inspection, without having to activate the autonomous operating mode (and therefore without having to interrupt it).

[0020] When the operating parameters to be set / calibrated are managed and adjusted by the operator, as in autonomous operation mode, other operating parameters (not modified during this phase) are managed by the robot. In another implementation variation of this method, when the robot manages and adjusts the operating parameters involved, other operating parameters (not modified during this phase) are also advantageously managed by the robot. However, in both variations, the setting / calibration must be verified by the operator before switching to autonomous operation mode.

[0021] Preferably, the portion (3′) of the plot worked during the semi-autonomous operation phase is not reworked during the next autonomous operation phase. Therefore, by implementing the desired work on the portion (3′) of the plot covered in that particular semi-autonomous operation phase, the same amount is reduced in the area to be worked on later in autonomous operation mode, thereby increasing productivity.

[0022] Advantageously, during the semi-autonomous operation phase, the agricultural robot (1) and / or the at least one tool (2) managed and adjusted by the operator (5) or by the robot (1) or by the tool (2) or by a combination of the three, the at least one operating parameter of the robot (1) and / or the at least one tool (2) is selected from the group formed by the output power, moving speed, moving direction, configuration of the work route on the plot (3), configuration of the robot (1), and positioning and / or orientation and / or configuration and / or operating parameters of the at least one tool (2).

[0023] As in autonomous mode, other operating parameters are controlled by the robot.

[0024] Depending on the type of robot and / or the type of associated tool, the method may include setting and / or calibrating at least two different operating parameters during a semi-autonomous operating mode by allowing simultaneous management and adjustment of at least two different operating parameters during an autonomous operating mode, or by allowing them to be managed and adjusted individually and separately during at least two consecutive phases. Thus, for example, an operator may simultaneously or continuously set the configuration of the tool (2) and the travel speed of the robot (1).

[0025] In the simplest case, and generally, the operation phase in semi-autonomous mode consists of only one operation cycle. During this phase, the robot (1) may cover part, the entire or more than one row of the route (4) predefined for the plot (3) under consideration.

[0026] However, as a variation, for more complex situations, the operation phase in semi-autonomous mode may include at least two consecutive cycles, wherein the same operating parameters are calibrated and / or set during at least one of the second cycle and / or any possible subsequent cycles, and each cycle is followed by a phase for verifying the work performed by the agricultural robot (1).

[0027] Alternatively, or according to another variation, the operation phase in semi-autonomous mode may include at least two consecutive cycles, wherein during at least one of the second cycle and / or any possible subsequent cycles, at least one second operating parameter different from the operating parameter associated with the first cycle is calibrated and / or set, and each cycle is followed by a phase for verifying the operation performed by the agricultural robot (1).

[0028] Advantageously, feedback relating to the results of the operating parameters used during a work cycle in semi-autonomous mode can be used to determine the operating parameters for the next(s) cycles(s). This feedback can be obtained through at least one sensor present on the robot(1) and / or tool(2). Thus, the operator can consider the results of the cycle to narrow down the selection of operating parameters for the next(s) cycles(s).

[0029] Depending on the type of work to be performed, it may or may not be possible to return to the same area of ​​the site.

[0030] According to a variation of the first embodiment, which may involve tillage operations, during each of the successive cycles of the semi-autonomous operation phase, the agricultural robot (1) may move on the same part (3′) of the plot and along the same route (4) as the first cycle, and the robot (1) may autonomously or involuntarily (at the start of the route) reposition itself.

[0031] According to a second embodiment variation suitable for seeding operations, during each period of each consecutive cycle in the semi-autonomous operation phase, the agricultural robot (1) can move on different consecutive parts (3′) of the plot, and the robot (1) autonomously or involuntarily (at the start of the next part of the route) repositions itself.

[0032] In order to utilize the experience gained during the semi-autonomous operation phase after the completion of the operation on the plot under consideration (e.g., for the next year), or to share the results of that experience in subsequent agricultural operations, the method may, where applicable, after a short validation phase in the autonomous operation mode, for its subsequent reuse in similar situations and / or for its transfer to at least one other similar agricultural robot (1′) that is part of the same fleet as the agricultural robot under consideration (1) and may be intended to operate on the same plot (3), retain the setup and / or calibration profile of the agricultural robot under consideration (1) at the end of the operation phase in the semi-autonomous mode of the agricultural robot (1).

[0033] To avoid unnecessary operator intervention, especially before the start of the setup / calibration phase, the length of the route (4) to be covered by the agricultural robot (1) during the semi-autonomous operation phase can be determined, in particular, based on the type of tool (2), the characteristics of the plot (3), and / or the type of agricultural operation to be performed.

[0034] Obviously, some of the settings or calibrations can be performed manually, depending on the parameters considered. However, given the increased mobility and autonomy of agricultural robots (1) and similar machines, operators can remotely manage and adjust several, or even most, of the adjustable parameters. Under these conditions, a mobile interface device can be configured to communicate with the agricultural robot (1) and allow the setting and / or calibration of at least one parameter during semi-autonomous operation phases. This interface device is capable of instructing the operator on the operation to be performed, the parameters to be set and / or calibrated, and the emergence of new operation phases in semi-autonomous mode. Such a device (not shown, but for example in...) Figure 1 and Figure 3A The device (carried by the operator) can advantageously consist of a tablet computer (7) or a smartphone, and can ensure compliance with predefined protocols through preprogrammed sequences and checklists, while providing improved ergonomics.

[0035] The interface device allows the operator to continuously monitor the setup and / or calibration methods, especially to receive feedback from one cycle before determining the operating parameters for the next cycle. In this case, the interface device and sensors present on the agricultural robot (1) and / or tool (2) communicate with each other directly or indirectly.

[0036] Feedback may include one or more types of information, such as numerical values, images, or videos. This data may represent a variety of information, such as the depth of the work, the wear and tear of the work tools, the soil conditions before and / or after the robot (1) passes through, the representation of the soil, the characteristics of the soil, the amount of residue, the quality of the work performed by the robot (2) and / or the tools (2), and whether thresholds or work instructions are followed.

[0037] Interface devices can be used to display information designed to assist the operator during setup and / or calibration methods. This information can instruct the operator on various actions to be performed before, during, and / or after different operational phases and cycles. This information not only ensures that the operator adheres to predefined setup and / or calibration protocols but also simplifies the use of the entire system.

[0038] To address unforeseen events and adapt to changing conditions, the present invention may, based on a prescription map associated with the plot (3), after an interruption of the autonomous operation phase or after observing a deterioration in the quality of the work performed by the robot (1), implement at least one second operation phase in a semi-autonomous mode, which results in modifications to the setting and / or calibration of at least one operating parameter, for a given plot (3) and the agricultural robot (1) under consideration, and after the autonomous operation phase. Possible unforeseen events include, in particular, interruptions caused by severe weather (changes in site conditions, but the project is partially completed), interruptions caused by malfunctions or maintenance operations, and even significant heterogeneity of the work plot (requiring the maintenance of homogeneous work quality).

[0039] The resulting configuration profile is typically associated with a given [plot-robot-tool] configuration.

[0040] When the method is implemented in conjunction with an agricultural machine combination including a robot that may be equipped with at least one tool and at least one additional attached agricultural machine, the method may further include: setting and / or calibrating the operating parameters of the machine attached to the robot (1) and / or at least one tool of such machine during an operation phase of the agricultural robot (1) in a semi-autonomous mode designed to set or calibrate its operating parameters and / or at least one of its tools (2), or during a subsequent operation phase.

[0041] The present invention also relates to a method for operating at least one agricultural robot (1) to perform work on a plot (3), the robot (1) comprising a mobile and maneuverable agricultural machine or combination equipped with at least one tool (2) and capable of autonomously performing work on the plot (3), the method comprising at least one stage of positioning the agricultural robot (1) at the beginning of a work route on a given plot (3) under the control of an operator, at least one stage of setting and / or calibrating the robot (1) and, where applicable, its tool (2), and at least one autonomous operation stage.

[0042] The method is characterized in that the execution of each stage of the robot (1) and / or tool (2) is set and / or calibrated in a semi-autonomous operation mode, and in order to achieve the above-described method.

[0043] According to one feature of the invention, a pre-established prescription map can be used to work on the plot (3) and complete the route of the robot (1) on the plot. The map also includes the location of at least one possible route segment corresponding to the location of the robot (1) in a new phase of setting and / or calibrating in semi-autonomous mode when working on the plot (3) and after the initial setup and / or calibration phase.

[0044] If there is an intentional or unintentional interruption, a change in site conditions (rainfall), or even a change in soil or plant type, then it may be recommended or necessary to [take precautions]. Figure 3A and Figure 3B The second setup and / or calibration phase is shown.

[0045] Of course, the present invention is not limited to the exemplary embodiments described and shown in the accompanying drawings. Modifications are still possible without departing from the scope of protection of the present invention, particularly regarding the composition of various elements or the substitution of technical equivalents.

Claims

1. A method for setting up and / or calibrating a mobile and maneuverable agricultural machine or combination thereof, referred to as an agricultural robot (1), the agricultural robot being equipped with at least one tool (2) and capable of autonomously operating on a plot of land (3), the method comprising: The agricultural robot (1) is temporarily operated in semi-autonomous mode when a work phase begins on a new plot, when an interrupted work phase is resumed on a given plot that has already been partially worked, in the event of a substantial change in plot characteristics during autonomous operation and / or in the event of a significant deterioration in the quality of the work performed by the agricultural robot (1) during autonomous operation, and after a request from the operator (5) or verification of the request from the operator (5), wherein at least one of the operating parameters of the agricultural robot (1) and at least one of the at least one tool (2) is managed and adjusted by at least one of the operator (5), the agricultural robot (1) and the tool (2); The operator (5) verifies the at least one operating parameter; as well as Set and / or calibrate at least one validated operating parameter for the subsequent autonomous operation phase.

2. The method of claim 1, wherein during the subsequent autonomous operation phase, the portion of the plot operated by the agricultural robot during its operation is temporarily operated in semi-autonomous mode ( (It will not be redone.) 3. The method according to claim 1, wherein the at least one operating parameter includes at least one of power output, moving speed, moving direction, configuration of the work route on the plot (3) and configuration of the agricultural robot (1), and at least one of the positioning, orientation, configuration and operating parameters of the at least one tool (2).

4. The method of claim 1, wherein the method comprises setting and / or calibrating the at least two different operating parameters during a semi-autonomous operating mode by allowing simultaneous management and adjustment of the at least two different operating parameters or by allowing individual and separate management and adjustment of the at least two different operating parameters during at least two consecutive phases.

5. The method according to claim 1, wherein temporarily operating the agricultural robot in semi-autonomous mode comprises at least two consecutive cycles, during at least one of the second cycle and possible subsequent cycles, calibrating and / or setting the same at least one operating parameter, and each cycle is followed by a phase for verifying the operations performed by the agricultural robot (1).

6. The method of claim 1, wherein temporarily operating the agricultural robot in semi-autonomous mode comprises at least two consecutive cycles, during at least one of the second cycle and / or possible subsequent cycles, calibrating and / or setting at least one second operating parameter that is different from the at least one operating parameter associated with the first cycle, and each cycle is followed by a phase for verifying the operation performed by the agricultural robot (1).

7. The method of claim 1, wherein the method comprises saving a setup and / or calibration profile of the agricultural robot (1) at the end of its operation phase in semi-autonomous mode for its subsequent reuse in similar circumstances and / or for its transfer to at least one other similar agricultural robot that is part of the same fleet as said agricultural robot (1). ).

8. The method of claim 1, wherein the method includes determining the length of the route (4) to be covered by the agricultural robot (1) during temporary operation of the agricultural robot in semi-autonomous mode.

9. The method of claim 1, wherein the method includes providing a mobile interface device capable of communicating with the agricultural robot (1) and allowing the setting and / or calibration of at least one operating parameter during temporary operation of the agricultural robot in semi-autonomous mode, the interface device being capable of instructing the operator on at least one of the following: the operation to be performed, the parameter to be set and / or calibrated, and the occurrence of a new operating phase in semi-autonomous mode.

10. The method according to claim 1, wherein the method comprises, based on a prescription map associated with the plot (3), after an interruption of the autonomous operation phase or after observing a deterioration in the quality of the operation performed by the agricultural robot (1), for a given plot (3) and the agricultural robot (1) under consideration, and after the operation phase in autonomous mode, implementing at least one second operation phase in semi-autonomous mode that results in modifications to the setting and / or calibration of at least one operating parameter.

11. A method for operating at least one agricultural robot (1) to perform work on a plot of land (3), said agricultural robot (1) comprising a mobile and maneuverable agricultural machine or combination equipped with at least one tool (2) and capable of autonomously performing work on the plot of land (3), said method comprising: Under the operator's control, the agricultural robot (1) is positioned at the beginning of the work route on a given plot (3). Set and / or calibrate at least one of the agricultural robot (1) and at least one of the tools (2), and at least one autonomous operation phase. The setting and / or calibration of at least one of the agricultural robot (1) and the tool (2) is performed in a semi-autonomous operation mode, and includes performing the method according to claim 1.

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