Semi-automatic measuring method for land parcel operation path of at least one agricultural robot

Abstract

The invention relates to a semi-automatic measuring method for a land parcel operation path of at least one agricultural robot. A method for semi-automated determination of the work route and path of at least one agricultural robot (1) across a given plot (P). The method comprises calculating a path parallel to an initial reference orientation (OR1), determining one or more non-optimal zones (Z2), defining another reference orientation (ORi) and calculating a parallel path (Ti) for each path, repeating the above operations if necessary, and displaying at least one planned movement configuration for the entire parcel.

Description

[0001] The present invention relates to the field of agricultural machinery, in particular to the work of tilling soil or plants by at least one agricultural robot or machine, i.e. tilling work that can be carried out without the assistance of an operator, except for occasional interventions, preferably under the control of a control center. Such machines are commonly referred to as agricultural robots, corresponding to mobile and motorized agricultural machines or equipment with at least one tool (integrated, carried, semi-mounted or trailed) and with integrated tools (driving, communication, measurement...), enabling them to work independently on a plot, if necessary in cooperation with at least another machine carrying out the same work or not of the same type.

[0002] In this context, the present invention aims to provide a semi-automatic method of determining the work route and path of at least one agricultural robot on a given plot.

[0003] Such an agricultural robot can be used alone on a plot or be part of a team of at least two robots assigned to said plot. The robots can be run completely independently after definition and programming (before work on site, directly by the user on site or remotely via a central control and management system). The robots in the team can or can not communicate with each other and, if appropriate, be assigned to work on predetermined parts of the plot.

[0004] In the field of agricultural robots, the paths taken by the machines are generally generated in advance in the form of estimated paths or path games. These paths are generally (at least within the tilled surface of the plot) parallel to the edges of the plot, called "reference lines", chosen if possible to be rectilinear, but not necessarily so. The spacing between these lines (paths or routes) is related to the working width of the associated agricultural robot tool or tools.

[0005] The solution is easy to implement and is very suitable for plots of basic geometric shape (such as rectangular, square, quadrilateral) or at least without concave or non-rectangular edges. However, when a plot presents more complex shapes, containing obstacles and / or with certain convexities or dangerous areas (as is often the case in real situations), then the paths are not necessarily optimized (in terms of number, length, safety in work, non-work travel, etc.) if they are all parallel to one orientation or direction or to one reference edge (see for example Figure 1A ).

[0006] In document US 10,459,447, there is a method of path planning for an agricultural robot comprising determining a partitioning of one or more plots, determining a plurality of angular incremental anchor path games, calculating a length difference between the longest path and the shortest path for each game, and retaining the smallest path game.

[0007] In EP 2,446,725 we find a method for determining a planned path for a vehicle, comprising delimiting an area with line segments and concave surfaces connecting nodes, identifying the concave surface of said area, dividing the plot into sectors with lines relating to the above-mentioned nodes, determining a path reference orientation and defining the work path for each sector and the paths connecting the sectors to each other.

[0008] These known methods are fully automatic systems, are part of complex methods, first of all separate the plots in question, cannot be chosen or completed by the customer in part, and do not include a final verification by the user, even a final choice.

[0009] The present invention aims to solve at least the main drawbacks mentioned above.

[0010] To this end, the object of the present invention is to provide a semi-automatic method for determining the work route and path of at least one agricultural robot on an entire given plot, said method comprising the following steps:

[0011] a) defining an initial reference orientation, automatically or by the user, advantageously coinciding with a reference edge of the plot in question;

[0012] b) calculating a path from the initial reference orientation to cover the entire plot,

[0013] c) automatically detecting one or more areas of the plot, where i is a value from 2 to n and n > 2, said areas being called non-optimal areas; where, with respect to at least one preset performance criterion of the path and / or of the work, the evaluation of the path predicted from the initial reference orientation and the proposed movement configuration resulting therefrom does not exceed a threshold value or does not reach a preset optimal value,

[0014] d) for each of the areas or non-optimal areas, automatically defining at least another reference orientation,

[0015] e) for each of the areas or non-optimal areas, calculating a parallel path parallel to the at least another reference orientation defined for the non-optimal area in question, so as to cover each time said entire non-optimal area,

[0016] f) in the case of necessity, for a given non-optimal area, repeating steps d) and e) and each time defining a different reference orientation until obtaining at least one path solution for said non-optimal area, where the evaluation with respect to at least one performance criterion reaches an optimal value,

[0017] g) displaying at least one proposed movement configuration solution for one or more agricultural robots of the plot and the different areas, where each area has a specific path orientation; said areas together covering the entire plot, where i is a value from 1 to n.

[0018] The application is further illustrated below with reference to a number of preferred non-limiting embodiments and with reference to the accompanying schematic drawings, in which:

[0019] [ Figure 1A ] is a diagrammatic view of a plot of land, in which a predetermined path of an agricultural robot is determined according to a single reference edge and a single orientation;

[0020] [ Figure 1B ] and [ Figure 1C ] are views of the same plot of land 1A, in which the path is determined according to the application and in which two edges or reference orientations are implemented according to the process;

[0021] [ Figure 2 [ Figure 3 ] and [ Figure 4 ] are diagrammatic views of two other plots of land in which the intended path of an agricultural robot is determined by the method of the application in relation to at least three edges or reference orientations.

[0022] Figure 1B 、 1C and 2-4 illustrate the application of the semi-automatic method (T) of completing an entire given plot of land (P) by at least one agricultural robot (1) in different geometrical shapes and plots of land (P) according to the application.

[0023] The process according to the application mainly comprises the following steps:

[0024] - a) defining an initial reference orientation (OR1) automatically or by a user (U), advantageously coinciding with a reference edge (BR1) of the plot of land (P) in question;

[0025] - b) calculating a path (T1) from the initial reference orientation (OR1) to cover the entire plot of land (P),

[0026] - c) automatically detecting one or more zones (Zi) of the plot of land (P), where i is a value from 2 to n and n > 2, said zones being referred to as non-optimal zones (Zi); where the path (T1) predicted according to the initial reference orientation (OR1) and the proposed movement configuration resulting therefrom does not exceed a threshold value or does not reach a preset optimal value in relation to at least one preset performance criterion of the path and / or of the work,

[0027] - d) for each of the zones (Z2) or non-optimal zones (Zi) (Z2-Zn), automatically defining at least one other reference orientation (ORi),

[0028] - e) for each of said zones or non-optimal zones (Zi), calculating a parallel path (Ti) parallel to at least one other reference orientation (ORi) defined for the non-optimal zone (Zi) in question, so as to each time cover said entire non-optimal zone (Zi),

[0029] - f) if necessary, repeating steps d) and e) for a given non-optimal zone (Zi) and defining a different reference orientation (ORi) each time the operation is performed, until at least one path (Ti) solution is obtained for said non-optimal zone (Zi) in which the evaluation with respect to at least one performance criterion reaches an optimal value,

[0030] - g) displaying the plot (P) and at least one proposed movement configuration solution for one or more agricultural robots (1) in the different zones (Zi), each zone having a specific path (Ti) orientation (ORi); said zones (Zi) together covering the entire plot (P), where i is a value from 1 to n.

[0031] With this combination of particular features, the inventive method can determine the path optimization configuration required for the entire operation of the plot (P) in question, the initial orientation (OR1) can be defined automatically by appropriate software (including a zone map or a geometric analysis), for example: OR1 = the longest right orientation, which can be drawn in the zone) or manually drawn (U) by the user. In determining this initial orientation, knowledge obtained from previous operating activities can also be taken into account.

[0032] In addition, this for determining the orientation and then the operating path, non-optimal zones, allows to explore and evaluate all possible road configuration solutions (of course, T1 road remains in the remaining zone (= plot - non-optimal zones), as the optimal road configuration).

[0033] The same orientation (ORi) can be applicable to different constituent zones of the plot, which are not linked between them (see Figure 4 OR3 applicable to Z3 and Z4 in

[0034] In a preferred embodiment, the one or more proposed movement configuration solutions for one or more agricultural robots (1) on the plot (P) divided into n zones (Zi) are displayed on an interactive graphic interface (2) and the chosen solution after reasonable selection is validated by the user (U) and then transmitted to the (x) agricultural robots (1) through the centralized management system of the agricultural robots, if applicable. Thus, the user, after defining the initial orientation (step a), regains control and decides on the configuration to be implemented.

[0035] Advantageously, in particular when operating automatically, the initial reference orientation (OR1) is defined using at least one evaluation criterion taking into account the topographical and geometrical characteristics of the plot (P), such as: a given number, for example a minimum number, of paths (Ti) to be drawn; a given number of half-turns, for example a minimum number; a path (Ti) as long as possible, for example a straight path if applicable; at least one optimization statistical parameter, such as the variance, the mean and / or the median, on the population of the lengths of the paths (Ti) to be drawn; when at least two criteria are used, the criteria can be weighted.

[0036] Preferably, the one or more evaluation criteria used to detect the areas (Zi) that are predicted to be impossible to cover and / or work in a sufficiently efficient manner compared to the initial path (Ti) are chosen from the following: the topography and / or geometry of the plot (P); the mean length of the paths as long as possible; the number of half-turns as low as possible; at least one optimization statistical parameter, such as the variance, the mean and / or the median, on the population of the lengths of the paths (Ti) to be drawn; when at least two criteria are used, the criteria can be weighted.

[0037] When several evaluation criteria are applicable, the use of weights can prioritize one or more criteria considered more important than the others.

[0038] The paths (Ti) planned on two contact zones (Zi) can tend to present overlapping and crossing phenomena on the junction zone (RJ) between the two zones. To avoid this disturbing phenomenon, it is possible to envisage managing the path configuration of these zones by automatic or user intervention.

[0039] Thus, as shown in Figure 1C and Figures 2-4 , the method determines a limit (L) on the junction zone (RJ) between two adjacent zones, among the n different zones (Zi) covering the entire area of the plot (P), prioritizing as a criterion the minimum number of paths (Ti) and / or the minimum number of half-turns (P) that can cover the entire plot (P), where i is a value from 1 to n.

[0040] Preferably, the limit (L) on the junction zone (RJ) between two adjacent zones is determined in the following manner: by connecting two opposite points (Pi, P2) of the perimeter of the plot (P), or by extending a line (Ti) of one zone (Zi) from the perimeter to the intersection with another longer line (Ti) of another zone (Zi), where i is a value from 1 to n; the definition of the limit is done automatically or manually by the user (U) through the interactive graphical interface (2).

[0041] For example, a limit (L), which can or can not be rectified, consists of at least part or all of the adjacent paths (Ti) in one of the two congested areas (Zi) : the limit is real. However, such a limit (L) can also be virtual, defining a virtual edge between the two congested areas (ZR). Figure 4 ).

[0042] In order to better take into account the actual situation on the ground, in particular taking into account the factor of breaking the homogeneity and continuity of the plot to be worked, in steps a), b), d) and e), according to the enhanced mapping database of the plot (P) and in order to define the initial reference orientation (OR1), at least one other possible reference orientation (ORi) is considered, and in order to the subsequent calculation of the paths (Ti) : one or more obstacles (O) possibly present in the plot (P) are considered, and / or one or more dangerous areas (ZR) possibly present in the plot (P), and / or the intended direction of movement in the subsequent agricultural operation (e.g. the direction of travel of the agricultural robot (1) ). Figure 2 、 3 、4).

[0043] An obstacle (O) can determine by itself a position or reference edge from which to calculate the paths according to the geometry of the plot. Furthermore, for a dangerous area (ZR), it is possible to plan to determine a specific orientation (ORR) of said area and to generate a path that reduces the risk (TRR) as much as possible ( Figure 4 ).

[0044] As a supplement or alternative, taking into account the topography of the plot to be worked, considering the three-dimensional topographic data of the plot (P) referred to, one or more inclined areas (ZDj) are determined, the slope of which is higher than a pre-set threshold, setting a reference orientation (ODj) for the path orientation (TDj), with j > 0, and calculating the orientation of said or each agricultural robot (1) in the above-mentioned one or more areas (ZDj) (see Figure 3 ).

[0045] In order to guide the user (U) in making the final choice among the proposed solutions, in particular informing the user about the safety-related risks, where necessary, the user (U) is informed that one or more of the proposed movement configuration solutions of the agricultural robot (1) or at least one of them is dangerous due to the inclination of the plot or other determined risks, or is not suitable for the subsequent agricultural operation.

[0046] As shown in Figure 3 , the method comprises generating paths (TC) parallel to the edge portions (PC) and defining an area (ZC) if the plot (P) has at least one non-straight edge portion (PC), the extension of each path (TC) being limited by its intersection with the edge of the plot (P) and / or with the straight paths (Ti).

[0047] More generally, when the reference orientation (OR1) and / or another subsequent reference orientation (ORi) is associated with a non-straight reference edge (BR1, BRi), the calculated path (T1, Ti) follows the path of the edge in a parallel manner, thus according to a non-straight path.

[0048] Furthermore, the present application also relates to a method for performing a work on a plot (P) by means of at least one agricultural robot (1), characterized in that said method comprises a preliminary parameter setting and programming phase, said phase comprising a semi-automatic determination method of the route and path (T) as described above.

[0049] After the automatic or semi-automatic definition and final selection by the user, the path configuration (Ti) scheme to be executed is sent to the robot (1) (x) in order for the latter to complete the programmed work on the indicated plot (P), for example, the calculation and configuration transmission being done by means of a mobile terminal available to the user or to the monitoring system.

[0050] For example, the plot can be completed according to the procedures described in the applicant's documents FR3119508, FR3114218, FR3114217, FR3119507 and FR3122063.

[0051] A practical example of said method can consider the following method: the user logs into a "Web" application through a computer / tablet / smartphone. Then, the method accesses a list of existing plots, to which new plots can be added if necessary. The method (through field measurement data) or hand-drawn plot contour is drawn. The process steps are then completed according to the application described above. The result of the method is a file containing the geometry (line configuration) generated by the user. The file can be distributed to the robot, which will be installed / executed by means of monitoring software that will generate the commands for the robot.

[0052] As existing software that can be used to perform certain tasks or operations according to the present application, either directly or with adjustments to its implementation according to the needs of the present application, the following can be mentioned: known software that can be used to import and / or draw plots or field maps from satellite images, generate optimized parallel guide lines and export them to a terminal for automatic guidance of tractors (for example: "Geo-Bird" software from AGCO company or "Planner" software from Lacos Computer Services company). These software need to be adjusted or implemented according to a plurality of edges or reference orientations. Among them, software that generates sets of parallel lines according to reference lines (for example: CCi.Command and CCi Terminal Parallel Tracking).

[0053] Of course, the present application is not limited to the embodiments described and represented in the attached schematic drawings. Modifications can still be made, for example, in terms of the configuration of the various elements or by replacing technical equivalents, without however departing from the scope of the present application.

Claims

1. A method for semi-automatically determining the working route and path (T) of at least one agricultural robot (1) over a given plot of land (P), said method comprising the following steps: a) defining, automatically or by a user (U), an initial reference position (OR1), advantageously coinciding with a reference edge (BR1) of the designated plot (P); -b) Calculate the path (T1) relative to the initial reference orientation (OR1) to cover the entire plot (P), -c) automatically detecting one or more areas (Zi) of the plot (P), where i is a value from 2 to n and n≥2, said areas being called non-optimal areas (Zi), wherein the evaluation of the path (T1) predicted based on the initial reference position (OR1) and the proposed movement configuration resulting therefrom does not exceed a threshold value or does not reach a preset optimal value with respect to at least one preset performance criterion of the path and / or the work, -d) automatically defining at least one further reference orientation (Ori) for each zone (Z2) or non-optimal zone (Zi) (Z2-Zn), -e) calculating, for each of said areas or non-optimal areas (Zi), a parallel path (Ti) parallel to at least one other reference orientation (ORi) defined for said non-optimal area (Zi), so as to cover each time said entire non-optimal area (Zi), -f) repeating, if necessary, steps d) and e) for a given non-optimal zone (Zi), defining a different reference orientation (ORi) each time, until at least one solution of a path (Ti) for said non-optimal zone (Zi) is obtained, wherein an optimal value is achieved with respect to an evaluation of at least one performance criterion, -g) showing a plot (P) and at least one proposed movement configuration of one or more agricultural robots (1) in different zones (Zi), each zone having a specific path (Ti) orientation (ORi); said zones (Zi) together covering the entire plot (P), wherein i is a value from 1 to n.

2. The method according to claim 1, characterized in that One or more proposed movement configurations of one or more agricultural robots (1) on a plot (P) divided into n areas (Zi) are displayed on an interactive graphical interface (2), and after reasonable selection, the selected configuration is verified by a user (U) and then transmitted to (x) agricultural robots (1) through a centralized management system of agricultural robots (if applicable).

3. The method according to claim 1 or 2, characterized in that An initial reference orientation (OR1) is defined taking into account topographical and geometrical features of the plot (P) using at least one of the following evaluation criteria: a given number of proposed paths (T1), such as a minimum number; Given a half-turn quantity, such as a minimum number; an end-to-end uninterrupted path (T) as long as possible, such as a straight path (if applicable); At least one optimized statistical parameter of the proposed path length (T1) group, such as the variance, the mean and / or the median; when at least two criteria are used, the criteria may be weighted.

4. The method according to any one of claims 1 to 3, characterized in that One or more evaluation criteria for detecting areas (Zi) that cannot be covered and / or operated in a sufficiently efficient manner compared to the initial path (T1) prediction are selected from the following: topography and / or geometry of the plot (P); mean length of the longest possible path; the lowest possible number of half turns; at least one optimized statistical parameter of the group of proposed path lengths (T1), such as variance, mean and / or median; when at least two criteria are used, possibly weighted criteria.

5. The method according to any one of claims 1 to 4, characterized in that Between n different areas (Zi) covering the entire area of ​​the plot (P), the limit (L) is determined at the junction area (RJ) between two adjacent areas, preferably using as criteria the minimum number of paths (Ti) and / or the minimum number of half turns (P) that can cover the entire plot (P), where i is a value from 1 to n.

6. The method according to claim 5, characterized in that The limit (L) is determined in the border region (RJ) between two adjacent regions by connecting two opposite points (P1, P2) of the peripheral edge of the plot (P) or by extending a line (Ti) of one region (Zi) from the peripheral edge to the point of intersection with another longer line (Ti) of another region (Zi), where i is a value from 1 to n; the definition of the limit is done automatically or manually by the user (U) through an interactive graphical interface (2).

7. The method according to any one of claims 1 to 6, characterized in that In steps a), b), d) and e), based on the enhanced cartographic database of the plot (P) and in order to define the initial reference orientation (OR1), at least one other possible reference orientation (ORi) is taken into account, and for the subsequent calculation of the route (T1, Ti): one or more obstacles (O) that may be present in the plot (P), and / or one or more danger zones (ZR) that may be present in the plot (P), and / or the proposed direction of movement in the subsequent agricultural operation.

8. The method according to any one of claims 1 to 7, characterized in that Taking into account the three-dimensional terrain data of the plot (P) in question, determining one or more possible tilted areas (ZDj) whose slope is higher than a preset threshold, setting a reference orientation (ODj) for the path orientation (TDj), where j≥0, and calculating the orientation of the or each agricultural robot (1) in the one or more areas (ZDj).

9. The method according to any one of claims 1 to 8, characterized in that If necessary, inform the user (U) that one or at least one of the proposed movement configurations of one or more agricultural robots (1) is dangerous or unsuitable for subsequent agricultural operations due to land inclination or other identified risks.

10. The method according to any one of claims 1 to 9, characterized in that If the plot (P) has at least one non-rectilinear edge portion (PC), lines (TC) are generated parallel to the edge portion (PC) and defining a zone (ZC), the extension of each line (TC) being limited by its intersection with an edge of the plot (P) and / or a rectilinear line (Ti).

11. A method for performing field work (P) by means of at least one agricultural robot (1), characterized in that The method comprises a preliminary parameter setting and programming phase, which comprises a semi-automated determination method of the route and path (T) according to any one of claims 1 to 10.

Images