Method and apparatus for working on plot using at least two agricultural robots

Abstract

The invention relates to a method for working a field (P) with at least two autonomous agricultural robots (R1, R2). The method is characterized in that, for an associated robot (R1) which arrives at the tail of the row (RA) and possibly finds that it is in a waiting situation, said method comprising: completing in the current row (RA) the work being performed within the main field (CP), bringing the tool to the tail of the row (RA), thus to an associated edge portion of the main field (CP), while occupying an edge portion (PF) adjacent to the edge portion; then moving back in the main field (CP) at least until the robot (R1) and its tools are again completely located in the main field (CP); and staying in situ, and then recovering to carry out other operations on the land parcel (P).

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and more specifically to working on the soil and / or plants of a plot of land using highly automated autonomous agricultural machinery (commonly referred to as autonomous agricultural vehicles or agricultural robots), preferably using a fleet of at least two such vehicles or machines.

[0002] Against this background, the object of the present invention is a method for working a plot of land using at least two agricultural robots and an agricultural device for implementing such a working method, wherein each robot continuously and completely processes each working area assigned to it. Background Art

[0003] Typically, a plot P (usually roughly rectangular, but may be of any parallelepipedal shape) is divided into a main field CP (corresponding to the best available surface SU) and at least one headland zone ZF which borders the main field over all or part of its outer perimeter (see Figure 1A and 1E : The headland area ZF surrounds the entire periphery of the main field CP). This headland area ZF can be continuous and completely border the SU or CP, such as Figure 1A As shown in: it thus extends on all sides of the main field. It may also extend along only some sides of the main field, or even only along one side, thus being block-shaped (e.g. Figure 1B ) or continuously (see Figure 1C It may also end up extending only part way along one side (see Figure 1D ).

[0004] Known solutions for CP work on the main field are as follows Figures 1A to 1D As shown in , the main field is divided into working zones (ZTj, where j varies from 2 to n) in the form of strips (usually with a fixed width for the entire length, but also with different widths) corresponding to the working width of the agricultural robot used (e.g. each zone is worked in a single pass or row RA) or to a multiple (preferably an integer) of this width (so that each zone is worked by the robot in an even or odd pass or row RA), and these zones are assigned or pre-assigned to different robots, preferably exclusively (one zone is exclusively assigned to one robot). The planned path followed by the robot when working in these zones is usually called a "row".

[0005] The above-mentioned working areas can be allocated / reallocated in real time according to the progress of the work and changes in the situation when the different robots work on the plots. The above-mentioned working areas, which constitute the partitioned parts of the main field, can be exclusively allocated to a single robot in the queue for work by this robot (for a given working phase or task of the plot), or alternatively allocated to several robots, which work on it simultaneously or successively, performing the same or similar, different or even complementary tasks. The robot works in these areas, advantageously making at least one round trip in each area.

[0006] Alternatively, if Figure 1E As shown in , the available surface SU (main field CP) can also be worked without being subdivided into several work areas (in other words, the CP or SU is a single work area that is not subdivided and is worked on by different robots at the same time as a single unit), and then the robots are managed according to the rows RA that each robot has executed and plans to execute ( Figure 1E and 1C Executed line portions are represented by solid lines in these figures, and lines portions to be executed are represented by dashed lines in these figures).

[0007] Traditionally, a headland area is present on at least one side, advantageously on several sides, of the main field, preferably at least at each end of the working area, and therefore at each end of the row or path worked in the plot. This is mainly used for agricultural vehicles or robots to make U-turns, more generally to move from one row to another in the main field, and also to enter / leave the plot, or to refuel or refuel at a refueling station located in a part of the headland area or outside the plot (e.g. on the side of the path leading to the plot). The headland area is also worked after all the working areas of the plot or available surface SU, usually the last to be worked.

[0008] More specifically, the invention is directed to a situation in which the movements are managed by a monitoring system / software which knows in advance all the trajectories (lines) that the different robots will take, and which also knows in real time the position of each robot while it is working (the robots do not communicate directly with each other). The invention is particularly applicable to the situation described in documents FR3114215 and FR3114217 when the available surface is subdivided into several working areas ( Figures 1B to 1D , Figures 2 and 3), but also applies when the available surface is not subdivided ( Figure 1A and 1E ).

[0009] In most cases, the robot is equipped with (at least) a tool that is positioned behind it in the forward direction during operation.

[0010] However, this configuration means that in order to work completely on a row or a section, in other words, to work completely to the end (close to the headland), the robot must intrude from the current working area or available surface, in other words from the main field, and (at least partially) enter the headland so that the rear tool reaches the end of the row and works on the end part of the corresponding section.

[0011] It is well known to those skilled in the art that the best way to work on a row is to complete it in a single uninterrupted pass from start to finish.

[0012] In fact, depending on the type of agricultural work being carried out, an interruption may involve restarting some subsystems of the implement (e.g. the seed metering device on a sowing machine). These subsystems will not function optimally in the first few meters after the restart, since they need some time to return to the same settings (current operation) as they had before the interruption. This can therefore lead to inconsistent or even non-existent operation of the implement in some rows and, where appropriate, corresponding parts of the working area, which can therefore mean a reduction in agricultural yields.

[0013] This situation is Figure 2A and 2B In the figure, it can be seen that when the robot R1 stops working, it stops at Figure 2A After the position shown in , a portion of the operating area involved (circled by reference numeral A) will operate in a different manner from the rest of the area (or even not operate at all) after restart.

[0014] A temporary stop at the end of a line, usually due to a wait condition on the associated robot, which can have a variety of reasons.

[0015] When using at least two agricultural robots working on a field, a common cause is that a first robot R1 may cause problems by wanting to fully complete its current row and thereby interfering with a second robot R2 that is then passing by in an adjacent headland section.

[0016] Therefore, in Figure 3In the situation schematically shown by way of example, robot R1 completes its row and is forced to encroach on the headland so that the following tool can work on the end of the corresponding zone. However, robot R2 needs to use the part of the headland occupied by robot R1 at the same time to move around the plot (for example to recharge or fuel, or to move to a new working area). Robots R1 and R2 therefore hinder each other, so priority and safety management tools (conflict management logic) are needed to prevent collisions and obstructions, especially in this situation. Although these tools are inevitably necessary in an automated agricultural operation infrastructure with multiple vehicles, it is highly necessary to try to limit this situation as much as possible, so that collisions, intersections and priorities between robots can be managed as easily as possible to ensure smooth operation in the plot.

[0017] This problem is particularly addressed in document EP 3508045, which, as mentioned above, proposes temporarily stopping a robot in a zone operating at the end of a row (to allow a second robot to pass through a critical headland section). It also mentions temporarily prohibiting the operation of certain rows, where the passage of these rows is blocked by a robot parked in the headland.

[0018] Furthermore, document EP 3427562 describes a method in which, in order to prevent a possible collision, a robot moving in a headland stops there, thereby allowing a robot turning around at the headland to pass.

[0019] Alternatively, there are some other known solutions in documents JP 6854847 B2, JP 2020018262 A1 and WO 2018 / 163615 A1.

[0020] However, none of these known solutions satisfactorily meets the above requirements. Summary of the invention

[0021] The main object of the present invention is to provide a simple and satisfactory solution which best meets the above requirements.

[0022] To this end, the subject of the invention is a method for working on a plot of land using a team of at least two agricultural robots operating autonomously and independently of each other, each agricultural robot being equipped with at least one tool placed behind in the direction of advance, the team operating under the control of a central common planning, management and drive system, the plot of land comprising at least one headland area associated with and bordering at least one part of one side of the main field, the method comprising, before the start of work in the plot of land, during the work if necessary, and after prior evaluation and planning of the work to be carried out on the relevant plot of land: automatic and / or manual programming of each agricultural robot with instructions, settings and / or control sequences before starting the work in the plot of land, in particular including the movement trajectory of each agricultural robot,

[0023] The method is characterized in that, for the relevant agricultural robot that reaches the end of the row and may find itself in a waiting situation, the method comprises: continuing and completing the work being carried out in the main field in the current row, bringing the tool to the end of the row and therefore to the relevant edge part of the main field, encroaching on the headland part adjacent to the edge part; then moving backwards in the main field, at least until the agricultural robot and its tool are completely in the main field again; staying in place until the conditions or reasons that caused the waiting situation disappear; and then resuming the remaining work on the plot (P). BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The invention will be better understood through the following description, which refers to a preferred embodiment given as a non-limiting example and is explained with reference to the accompanying drawings, in which:

[0025] Figure 4A , Figure 4B , Figure 4C , Figure 4D and Figure 4E In a top view and in relation to a team of two robots, schematically and in relation to FIGS. 2 and Figure 3 Similarly, the different successive steps of the method according to the invention corresponding to the actions performed by the agricultural robot in a waiting situation according to a predefined logic of priorities and safety rules are shown. DETAILED DESCRIPTION

[0026] The invention generally relates to a method for working a plot of land P using a train of at least two agricultural robots R1, R2, ..., Ri, etc. operating autonomously and independently of each other, each robot being equipped with at least one tool O positioned behind in a forward direction AV. The train operates under the control of a central common planning, management and drive system SC known to those skilled in the art, the plot of land P comprising at least one headland area ZF associated with and bordering at least one part of one side of a main field CP.

[0027] The method includes, before the start of work in the plot P, during the work if necessary, and after prior evaluation and planning of the work to be performed on the relevant plot P, automatically and / or manually programming each agricultural robot R1, R2, ..., Ri, etc. with instructions, settings and / or control sequences before starting work in the plot P, in particular including the movement trajectory of each agricultural robot (constituting rows in the main field).

[0028] According to the invention, for the relevant robot Ri that has reached the end of the row RA and may find itself in a waiting situation, the method comprises: continuing and completing the work being carried out in the main field CP in its current row RA, bringing its tool O to the end of the row RA and therefore to the relevant edge portion EZ of the main field CP, thereby encroaching on the headland portion PF adjacent to this edge portion EZ; then moving backwards in the main field CP, at least until the robot Ri and its tool O are completely located in the main field CP again; staying in place until the conditions or reasons that caused the waiting situation disappear; and then resuming the remaining work on the plot P.

[0029] Thanks to these arrangements, the invention makes it possible to overcome the problems associated with a waiting situation for a given robot simply and effectively, with little or no impact on the operation of the other robots: the robot concerned no longer constitutes an obstacle in the headland, but can still work in the current row in an optimal way. It is understood that the invention can be applied as soon as the end of the row RA passes into the headland portion PF, but of course not systematically (only when the conditions for a waiting situation are met). The invention thus ensures consistent work over the entire length of the row RA for all rows (regardless of whether a waiting situation exists), prevents collisions in the headland area, and facilitates the management of crossings between robots.

[0030] According to an advantageous, at the same time flexible and safe alternative embodiment, it is verified by a given robot Ri, upon reaching the end of the current row and approaching the adjacent headland portion PF, whether the conditions leading to a waiting situation for this same robot Ri are met or whether the causes exist, the actions subsequently performed by this robot Ri in relation to the confirmed waiting situation being dependent on the safety check previously carried out by this robot Ri.

[0031] According to an alternative embodiment, with advanced centralized control of the queue and possibly limited robot complexity, a given robot Ri is informed of the existence of a waiting situation by a central common planning, management and drive system SC.

[0032] In order to minimize the squeezing of the sown crop (sowing or post-sowing plant treatment), the relevant robot Ri is advantageously arranged to move backwards along the same trajectory as it used to complete the work to the end of the current row RA, but in the opposite direction.

[0033] Alternatively, to limit the compaction of the soil (without the risk of crushing seedlings or plants, as in soil work operations such as ploughing, tilling, harrowing, etc.), it is possible to envisage that the relative robot Ri moves backwards along a trajectory different from the trajectory followed to complete the work at the end of its current row RA, preferably offset laterally by at least the width of the robot's mobile device track. Thus, the loads affecting the soil are better distributed.

[0034] Preferably, when the associated robot Ri moves backward, the at least one tool O is inactive and, if necessary, raised.

[0035] According to a first embodiment shown in Figure 4 and related to, for example, the method described in documents FR 3114215 and FR 3114217, the method may also include, before starting the work in the plot P and, if necessary, during the work in the plot P, subdividing the main field CP into strip-shaped working areas ZT1, ZT2, ..., ZTj, ..., at least one end of the working area corresponding to the edge part EZ of the main field CP is extended by a part PF of the headland area ZF, each working area is assigned to a robot R1, R2, ..., Ri, ..., so that the assigned robot can carry out the work in the longitudinal direction in one lane or row or multiple lanes or rows, advantageously in at least one round trip.

[0036] According to the second embodiment, Figure 1E In relation to the plot shown in , the main field CP is not subdivided and is considered by the system and the robots as a single, but non-exclusive, work area that can be worked on simultaneously by several or all robots in the queue (increasing the vigilance of the safety system to prevent collisions). A route with the necessary round trips is planned for each robot in the main field in order to work it completely. These instructions will then be sent by the monitoring system SC to the different robots. The work is distributed between the robots in this single work area when paths and instructions are generated, which will be sent to the different robots involved.

[0037] In this second embodiment, several operation scenarios can be envisioned (the following is an example of a team consisting of three robots Ri, where i varies from 1 to 3):

[0038] - If the agricultural work in the main field CP is the same for all robots: in this case, each robot works in a part of the CP (for example, when there are two robots working in the CP, the left half can simply be assigned to one robot and the right half to the other robot).

[0039] - If the agricultural work for all robots in the main field CP is different and sequential: all robots then follow the same or almost the same path, but staggered in time (in increments of X meters / round trip / minute between two consecutive robots), and they all work in the entire main field CP. Application example for a fleet of three robots (i=1 to 3): R1 uses a roughing stubble destroyer, R2 uses a rotary harrow, and R3 uses a seed drill.

[0040] If the relevant agricultural robot Ri also has at least one lead tool O', it is advantageously provided to move backwards in the main field CP and, if necessary, in the relevant working zone ZTj, at least until the at least one lead tool O' is completely located in the main field or in the relevant working zone ZTj.

[0041] To achieve a high degree of automation, when each agricultural robot R1, R2, ..., Ri is programmed with instructions and / or control sequences before starting work in the plot P, the method may include also defining for each robot the retreat characteristics that may be performed in a waiting situation, in particular its range and trajectory type, that is, whether the retreat trajectory coincides with or is offset from the immediately preceding forward trajectory for ending the row RA.

[0042] According to the invention, in order to be able to handle a wide variety of possible scenarios, the possible conditions or reasons for the waiting situation of a given robot Ri in the queue are preferably diverse, for example related to the relevant robot Ri itself, the organization of the queue, the progress and status of the work in the plot P and / or instructions from the central common planning, management and drive system SC or from the operator.

[0043] Therefore, for a given robot Ri (i=1 in FIG. 4 ), the following can be set, for example, as a condition for waiting at the end of the row RA, leading to the application of the principle of the present invention (in the presence of a headland):

[0044] - Ri is waiting for instructions from the user (or the monitoring system SC) to send it to a refueling station or parking area (usually each located at a predetermined position in the headland).

[0045] -Ri has completed its assigned task before returning to a parking area outside the main field, waiting for the task to be fully completed (in other words, all robots have completed their tasks).

[0046] - The logic for managing passage priorities has determined that another robot Rj (j=2 in Figure 4) has a higher priority than Ri, so Ri moves backwards to avoid forming an unnecessary obstacle in the headland (Ri temporarily stops in the row).

[0047] - A fault is detected on Ri (and / or one of its tools O or O') which requires a non-immediate stop. The robot Ri then completes the stroke and waits at the end of the stroke until the problem is resolved before resuming the work.

[0048] The present invention also relates to an agricultural machinery component for implementing the method for automated operation of the plot of land P as described above.

[0049] The component first comprises a fleet of at least two agricultural robots R1, R2, ..., Ri operating autonomously and independently of each other, each robot being equipped with at least one suitable working tool O arranged behind it in the direction of advance AV, and secondly the component comprises a central common planning, management and drive system SC which is capable of and is intended to evaluate and plan the work to be performed on the relevant plot of land P before and, if necessary, during the work on the relevant plot of land P, and to communicate with the robots in order to send instructions and / or control commands to the robots, and, if necessary, to receive operating and / or status information from the robots R1, R2, ..., Ri in exchange, and each robot R1, R2, ..., Ri is also equipped with a positioning device and may also be provided with an input inventory and autonomy measurement device based on its current and estimated future consumption.

[0050] The assembly is characterized in that each robot R1, R2, ..., Ri is configured and programmed to execute a predetermined sequence of actions as described above when it finds itself in a waiting situation.

[0051] Of course, the invention is not limited to the exemplary embodiments shown and described in the drawings. Modifications are still possible without departing from the scope of protection of the invention, in particular as to the composition or technical equivalent substitution of the various elements.

Claims

1. A method for working on a plot (P) using a team of at least two agricultural robots (R1, R2, ..., Ri) operating autonomously and independently of each other, each agricultural robot being equipped with at least one implement (O) positioned behind in a forward direction (AV), the team operating under the control of a central common planning, management and drive system (SC), the plot (P) comprising at least one headland (ZF) associated with and bordering at least a portion of one side of a main field (CP), the method comprising before the start of work in the plot (P), during the work if necessary, and after prior evaluation and planning of the work to be performed on the relevant plot (P): Automatically and / or manually programming each agricultural robot (R1, R2, ..., Ri) with instructions, settings and / or control sequences before starting work in the plot (P), in particular including the trajectory of movement of each agricultural robot, Characterized in that, for the relevant agricultural robot (Ri) that reaches the end of the row (RA) and may find itself in a waiting situation, the method comprises: continuing and completing the work being carried out in the main field (CP) in the current row (RA), bringing the tool (O) to the end of the row (RA) and therefore to the relevant edge portion (EZ) of the main field (CP), encroaching on the headland portion (PF) adjacent to the edge portion (EZ); then moving backwards in the main field (CP), at least until the relevant agricultural robot (Ri) and its tool (O) are completely located in the main field (CP) again; staying in place until the conditions or reasons that caused the waiting situation disappear; and then resuming the remaining work on the plot (P).

2. The method according to claim 1, characterized in that Whether the conditions leading to a waiting situation for the given agricultural robot (Ri) are met or the causes exist is verified by the given agricultural robot (Ri) when it reaches the end of the current row and approaches the adjacent headland part (PF), and the actions subsequently performed by the given agricultural robot (Ri) related to the confirmed waiting situation depend on the safety check previously performed by the given agricultural robot (Ri).

3. The method according to claim 1 or 2, characterized in that: A given agricultural robot (Ri) is informed of the existence of a waiting situation by a central common planning, management and actuation system (SC).

4. The method according to any one of claims 1 to 3, characterized in that The backward movement of the associated agricultural robot (Ri) follows the same trajectory as the one it follows to complete the work at the end of the current row (RA), but in the opposite direction.

5. The method according to any one of claims 1 to 3, characterized in that The trajectory followed by the backward movement of the associated agricultural robot (Ri) is different from the trajectory followed by it to complete the work to the end of the current row (RA), preferably offset laterally by at least the width of the track of the robot's mobile device.

6. The method according to any one of claims 1 to 5, characterized in that When the associated agricultural robot (Ri) moves backward, the at least one tool (O) is inactive and, if necessary, raised.

7. The method according to any one of claims 1 to 6, characterized in that The method also includes subdividing the main field (CP) into strip-shaped working areas (ZT1, ZT2, ..., ZTj) before starting the work in the plot (P) and, if necessary, during the work in the plot (P), wherein at least one end of the working area corresponding to the edge part (EZ) of the main field (CP) is extended by a part (PF) of the headland area (ZF), and each working area is assigned to an agricultural robot (R1, R2, ..., Ri) so that the assigned agricultural robot can perform work in one lane or row or multiple lanes or rows along the longitudinal direction, advantageously in at least one round trip.

8. The method according to any one of claims 1 to 7, characterized in that If the relevant agricultural robot (Ri) also has at least one lead tool (O'), the method includes moving backward in the main field (CP) and, if necessary, in the relevant working area (ZTj), at least until the at least one lead tool (O') is completely located in the main field or the relevant working area (ZTj).

9. The method according to any one of claims 1 to 8, characterized in that When each agricultural robot (R1, R2, ..., Ri) is programmed with instructions and / or control sequences before starting work in the plot (P), the method also includes defining for each agricultural robot the retreat characteristics to be performed in a waiting situation, in particular its range and trajectory type, i.e. whether the retreat trajectory coincides with or is offset from the immediately preceding forward trajectory carried out to end the row RA.

10. The method according to any one of claims 1 to 9, characterized in that The possible conditions or reasons for the waiting situation for a given agricultural robot (Ri) in the queue are various and are related, for example, to the relevant agricultural robot (Ri) itself, the organization of the queue, the progress and status of the work in the plot (P) and / or instructions from the central common planning, management and drive system (SC) or from the operator.

11. An agricultural machinery assembly for implementing a method for automated work of a plot of land (P) according to any one of claims 1 to 10, the agricultural machinery assembly firstly comprising a fleet of at least two agricultural robots (R1, R2, ..., Ri) operating autonomously and independently of each other, each agricultural robot being equipped with at least one suitable work tool (O) arranged behind it in the direction of advance (AV), the agricultural machinery assembly secondly comprising a central common planning, management and drive system (SC), which is able and intended to evaluate and plan the work to be carried out on the relevant plot of land (P) before the start of work on the relevant plot of land (P) and, if necessary, during the work, and to communicate with the agricultural robots in order to send instructions and / or control commands to the agricultural robots and, if necessary, in exchange, receive operating and / or status information from the agricultural robots (R1, R2, ..., Ri), each agricultural robot (R1, R2, ..., Ri) also being equipped with a positioning device and, if necessary, also with an input inventory and autonomy measurement device based on its current and estimated future consumption, It is characterized in that Each agricultural robot (R1, R2, ..., Ri) is configured and programmed to execute a predetermined sequence of actions as described in claims 1 to 10 when it finds itself in a waiting situation.

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