METHOD FOR PROCESSING A PLOT OF LAND BY A FLEET OF AT LEAST TWO AGRICULTURAL ROBOTS

Description

[0001] The present invention relates to the field of agricultural machinery and more particularly to the working of the soil or plants of an agricultural plot, and has as its object a method of working a plot automatically and simultaneously by a fleet of at least two agricultural machines or robots, as well as an agricultural unit to carry out this method.

[0002] In agriculture, it is well known that when a fleet of autonomous agricultural machines (robots) is working a plot of land, the distribution of labor within the plot is crucial to ensuring the system's efficiency. Similarly, it is vital to minimize potential collisions between the different machines.

[0003] Typically, a plot P is divided into a main field CP (optimally usable area) and a headland area F which borders this main field on all or part of its peripheral circumference (see [ Fig.1 ]-pound around the entire perimeter of the field). This pound is used by vehicles to maneuver from one row to another in the main field (for example, U-turns).

[0004] As is well known and common practice, autonomous vehicles within the same fleet communicate with each other (via radio frequency, either directly or through a central system) to constantly monitor the positions of others. Other master-slave solutions (where a slave robot follows and replicates the path of a master robot) also exist.

[0005] However, these known solutions require constant bidirectional exchanges and therefore permanent communication between robots: this results in complex needs in terms of data flow and connections between the machines and the network.

[0006] Alternatively, known master-slave solutions impose a dependency of the slave robot(s) on the master robot(s): the two types of machines cannot truly work independently, but only in pairs or groups, which reduces efficiency. Furthermore, the robot(s) must again be managed via a permanent communication link.

[0007] Finally, other solutions recommend dividing the plot to be worked into fixed-width working zones corresponding to the working width of the agricultural robots deployed, and assigning these zones to the different robots. These zones are then assigned / reassigned in real time based on the progress of the work being carried out by the various robots and the evolving situation. A solution of this type is disclosed in document EP 3 508 045 or US 2019 / 0146513.

[0008] Although this latter type of solution does not require constant communication, exchanges between the centralized management system and the robots are frequent, and the solution is not very flexible. Furthermore, the robots' paths are not always known in advance. In addition, managing collisions between robots can quickly become very complex.

[0009] US documents 2017 / 336787 A1 and US 6 205 381 B1 represent known methods of working a plot of land with a fleet of at least two agricultural machines or robots.

[0010] US patent 2017 / 336787 A1 does not describe a progressive allocation of work areas based on the completion of ongoing work. The allocation of new areas in this document occurs only in the event of a breakdown, malfunction, or adverse weather conditions, as described in paragraphs

[0034] and

[0035] . Otherwise, the allocation of areas, under normal conditions, does not change during the course of the work.

[0011] The present invention aims in particular to overcome the disadvantages of the latter type of solution.

[0012] For this purpose, it relates to a method of working a plot simultaneously by a fleet of at least two autonomously and independently operating agricultural machines or robots, in accordance with instructions and / or commands transmitted by a common central management and control system, a method as defined by claim 1.

[0013] The invention will be better understood from the following description, which relates to preferred embodiments, given by way of non-limiting examples, and explained with reference to the accompanying schematic drawings, all illustrating top views of agricultural plots, and in which: [ Fig.2 ] represents, for a rectangular plot, a partial division of the field with alternating work zones according to a repeating pattern or scheme of the type ABC, ABC,... ; [ Fig.3 ] represents a division of the total field with alternating uniform work zones according to the same pattern or repetitive scheme as that of the [ Fig.2 ] (type ABC, ABC,...) and with a (terminal) band of a different size (smaller width); [ Fig.4 ] represents a division of the total field with alternating uniform work zones according to a pattern or repetitive scheme different from that of the [ Fig.3 ] (type ABC, BAC, BA...) and with a (terminal) band of a different size; ] Fig.5 ] represents a division of the total field with alternating uniform work zones according to the same pattern or repetitive scheme as that of the [ Fig.2 ] (type ABC, ABC,...), but with a (terminal) band of a different size and "empty" intermediate bands, not worked by agricultural robots; [ Fig.6 ] represents a partial division of the field with alternating work zones, the main constituent components of an example of an agricultural assembly for carrying out the process according to the invention (central management and control system - autonomous robotic agricultural work machines) being represented; [ Fig.7 ] represents, for a plot with a circular configuration, a total division of the field with alternating working zones according to a repeating pattern or scheme of the type ABC, ABC,... (as for the figures 2 And 3) and with a central pound strip (extending along a radius); [ Fig.8A ] And [ Fig.8B ] are representations similar to those of figures 2 à 5 illustrating respectively the addition of a robotic device ([ Fig.8A ]) and the removal of a robotic device ([ Fig.8B ]) during the execution of the process of working a plot according to the invention, and, [ Fig.9A ], [ Fig.9B ] And [ Fig.9C ] are representations similar to those of figures 2 à 5 illustrating respectively different examples of methods of managing the presence of a relatively large obstacle (in particular, for example, greater than the width of a work area) in accordance with the invention.

[0014] As is apparent from figures 2 à 9 The present invention relates to a method of working a plot (P) simultaneously by a fleet of at least two agricultural machines or robots (R1, R2, ..., Ri) operating autonomously and independently, in accordance with instructions and / or commands transmitted by a common central management and control system (SC).

[0015] The work carried out by robots can target all common agricultural operations (soil preparation from pre-sowing to post-harvest treatment) and may depend on the type of crop, the season, the nature of the soil, weather conditions, etc.

[0016] According to the invention, this method consists of subdividing the plot (P) to be worked, either prior to or progressively during the work on this plot (P), into at least two distinct working zones (Z1, Z2, ..., Zj). These working zones together cover substantially the entire usable surface area of ​​the plot, and each working zone consists of a strip-shaped portion of the plot. Each working zone (Z1, Z2, Zj) is then assigned exclusively to one of the agricultural robots (R1, R2, Ri), at least during the work phase in question. The width (Lz) of each working zone (Z1, Z2, Zj) is equal to a multiple, greater than or equal to 1 and preferably an integer, of the working width (Lr) of the agricultural robot (R1, R2, Ri) exclusively assigned to it.In addition, the exclusive allocation, during the work of the plot (P), of the work zones (Z1, Z2, Zj) not yet worked, respectively to the different agricultural robots (R1, R2, Ri), is carried out progressively according to the completion of the work in progress in the different work zones by the agricultural robots which have been respectively assigned to them.

[0017] Thus, in accordance with the invention, the usable area CP of the plot P under consideration (or main field) is divided into work zones, each exclusively assigned to a robot from the fleet present. The zone reserved for a robot can only be traversed by that robot during the duration of the work it is to perform there: it works this zone independently, according to its programming (and / or specific commands transmitted by the central system before the start and / or during the duration of the work in the plot or in the zone under consideration) and without being disturbed by any other robot present on the plot.

[0018] Thanks to the aforementioned provisions, the solution provided by the invention makes it possible to significantly simplify the management of conflicts and collisions between robots, to manage work in each work zone independently, to allow great flexibility in the number of machines working simultaneously on a given plot and above all to eliminate any need for communication between robots, each of them working only within the limits of a zone that has been exclusively assigned to it.

[0019] Furthermore, the robots do not need to know each other's positions. Indeed, robot movements are centrally managed by the control and monitoring system, which also controls the allocation of work zones, the definition of each robot's working parameters, and so on. Each robot therefore communicates exclusively with the control and monitoring system and not with any other robot.

[0020] Furthermore, the method according to the invention allows for easy adaptation to the addition / removal of robots during work on a plot (see figures 8 ) and to have work areas of different widths, also allowing to find an optimal compromise in the movements of robots between successive work areas.

[0021] Finally, it is also possible to easily implement U-turns, maneuvers or refueling zones at both ends of the work zones, in exclusive headland areas associated respectively with said work zones.

[0022] Thus, the crossing of robots in impoundment areas can be limited, or even completely avoided.

[0023] As illustrated in the attached figures, the subdivision into zones in the form of successive adjacent strips follows a sequence from one end of the plot to the other. The different strips may all have identical widths, all have different widths, or some may have different widths and others may have the same width. The number of working zones obtained after subdivision is preferably greater than or at least equal to the number of robots planned to work the plot.

[0024] The scheme for allocating different work zones to different robots, at the beginning or during a work cycle on a given plot, can follow predetermined rules and logic, for example an arbitrary imposed scheme, a regular repetition, an allocation based on the progress of each robot's work, an allocation based on the first unassigned zone in the topographical order of succession of pre-cut zones, etc.

[0025] In accordance with a first embodiment, resulting for example from figures 3 à 5 And 7, it can be provided that after an initial allocation of a first exclusive work zone to each agricultural robot, the following allocations, during the work of the plot (P), of the work zones still to be worked (to the different agricultural robots) are carried out progressively according to the completion of the work in progress in the different work zones by the agricultural robots which have been respectively allocated to them.

[0026] In accordance with a second embodiment, arising from figures 2 And 6It can be provided that all work zones (Z1, Z2, Zj) are assigned to the different agricultural robots (R1, R2, Ri), with an exclusive assignment of one robot per zone, at the start of work on the plot (P), a possible reassignment of the work zones not yet worked, between the different agricultural robots considered, can take place at a determined time during the work on the plot (P), depending on the evolution of the behavior, availability and / or condition of the different robots, or the actual or foreseeable progress of the work in the work zones still subject at the aforementioned time to work by the respective robots which have been exclusively assigned to them.

[0027] The cases of adding and removing a robot are schematically illustrated by means of the patterns of the work areas on the figures 8A And 8B .

[0028] Preferably, at least the initial or first assignment of the exclusive work zones (Z1, Z2, Zj) follows an allocation rule (alternative, cyclic, repetitive, or arbitrary) for the different robots to successive neighboring work zones resulting from the subdivision of the plot (P). As shown by the figures 2 à 9 , these work zones may consist either of strips arranged side by side and substantially straight, in the case of a polygonal plot (P) with at least a partial peripheral headland (F) ( figures 2 à 6 , 8 And 9 ), either in substantially circular (annular) bands arranged concentrically with each other, in the case of a discoidal parcel (P) with a headland (F) extending along a radius ([ Fig.7 ]).

[0029] To streamline and standardize operations performed simultaneously by several robots on a given plot, it is advantageous to implement agricultural robots (R1, R2, Ri) performing the same type of work. These robots preferably have identical working widths (Lr) and are advantageously of the same type. However, robots with different working widths (Lr) but performing the same type of work can also be implemented within the scope of the invention (for example, different sized models of the same type of robot). In this latter case, the working areas could have different, adapted widths (Lz) (not shown).

[0030] Where appropriate, two different fleets of robots performing complementary work can be active at the same time on the same plot, in particular a large plot, with one fleet finishing the work assigned to it while the other fleet begins its own, preferably at two opposite ends of the plot.

[0031] For example, to avoid any risk of collision between robots working in neighboring areas, to have uncultivated traffic lanes available and / or to leave lanes fallow or in differentiated cultivation, it may be possible to plan, as shown in the [ Fig.5 ], to provide, between at least two adjacent work zones (Z1, Z2, Zj), an intermediate zone (Z') in the form of a strip (for example from a few centimeters to a few tens of centimeters) which must not be subjected to work by agricultural robots (R1, R2, Ri).

[0032] According to another possible functional feature of the invention, the method may optionally consist of carrying out a new assignment of the work zones (Z1, Z2, Zj) not yet worked to the different agricultural robots (R1, R2, Ri) present and functional, when adding a new robot, when removing or leaving a robot or when stopping a robot in operation in a work zone, this reassignment being carried out by the common central management and control system (SC) and transmitted to the different robots, where appropriate after carrying out a new subdivision of the remaining part (PRP) of the plot (P) still to be treated at that time.

[0033] According to another possible feature of the invention, the subdivision of the plot (P) and the allocation of exclusive working areas (Z1, Z2, Zj) to the different agricultural robots (R1, R2, Ri) can take into account a minimization of crossings of said robots at the level of the headland(s) (F) when changing working areas.

[0034] In accordance with the invention, agricultural work operations are carried out independently in each zone by the different robots of the fleet assigned to the plot, with specific working parameter settings for each zone being of course possible, adapted in particular to different desired or undesired operating situations, such as: For a sloping area, the working speed can be slower; for an area with a different soil composition (stones, clay, sand, etc.), the working depth and / or the settings of the tools and / or machinery can be specific; for particular and differentiated local conditions: possibility of modulating the doses of products applied to each area (sowing density, plant protection products, irrigation, type of operation carried out, ...); for flexible exploitation of the plot: possibility of sowing different varieties in each area.

[0035] Furthermore, regarding the definition and allocation of work areas, the following considerations can be taken into account: The sizes of the working areas can be influenced by factors other than the working width of the agricultural robot: tool settings, topographical and / or geographical constraints may have a greater impact; a given working area may have a width Lz less than the working width Lr of the robot assigned to it: see in particular the last BT terminal zones or strips of the figures 3 à 5 (ends of plots, etc.); the next work zone assigned to a given robot is not necessarily adjacent or "stuck" to the one that this robot has just finished (it is possible to "skip" unworked zones, in the order of succession by proximity); the end of the task to be performed in a work zone does not necessarily correspond to the execution of the work by the assigned robot on 100% of the surface of the zone considered: the allocation logic applied by the central system (CS) may decide to move said robot to a next zone even though the work in the currently worked zone is not completely finished (robot breakdown, saving time, limiting unnecessary maneuvers, etc.); when a given robot changes work zones, the zone in which it has just finished its work is "freed up" and another robot can enter it to perform another job.

[0036] A delicate problem may arise if there is an obstacle (natural or otherwise), especially one of relatively large size (large rock, pylon, mound, lake, ...) in the plot to be worked.

[0037] Several solutions can be considered and implemented to prevent agricultural robots from leaving their respective work zones to circumvent the obstacle: define a large work area that includes the entire obstacle (OB) as represented for example on the [ Fig.9A ] ; define work zones of standard widths and "reserve" several adjacent zones that include the obstacle (OB) for the same robot as shown on the [ Fig.9B ] ; define work zones of standard widths and require the robot in question to pass through another adjacent zone, after waiting for it to be freed up before using it as shown in the [ Fig.9C ].

[0038] In all cases, the obstacle and the way it is bypassed must be taken into account in defining the size of the zones and in their logic of allocation to the robots concerned (handled by the central management and control system).

[0039] The treatment of impound lots, and the work carried out at their level, can advantageously be based on a specific logic (see in this regard the patent application filed in parallel today by the applicant).

[0040] It can be noted that not all plots necessarily have headlands (zones F) which go all the way around the usable area (main field CP), they may only be present on two sides (only at the top and bottom on the attached figures for example).

[0041] There may also be no pound at all, with maneuvers taking place within the main field itself (confusion between plot and main field), without this changing the principle of the invention.

[0042] Finally, when the headland(s) is / are considered part of the usable area of ​​the plot, it / these areas can be worked either in sections by each of the robots assigned to the different work zones (at the ends of these zones), or by at least one robot dedicated to a specific work zone, with at least one other robot (ideally several) then assigned to working the main field. In a minimal configuration, only two robots can be used (one for the main field and one for the headland).

[0043] The invention also aims, as shown in the [ Fig.6] schematically, an agricultural unit for the automated working of plots (P).

[0044] This set essentially comprises a fleet of at least two mobile agricultural machines or robots (R1, R2, ..., Ri), equipped with suitable tools, operating autonomously and independently, and a common central management and control system (SC) capable of communicating with said robots in order to transmit instructions and / or commands to them and to receive in return information on the operation and / or status of said robots, each robot also being equipped with a satellite positioning or location device.

[0045] This assembly is characterized in that said central management and control system (SC) includes means enabling, on the one hand, the subdivision of said plot (P) to be worked, prior to the start of work on this plot (P) and / or progressively during its work, into at least two distinct working zones (Z1, Z2, ..., Zj), the set of said working zones advantageously covering substantially the entire surface area of ​​the plot and each working zone consisting of a strip-shaped fraction of the plot, and, on the other hand, the allocation of each working zone (Z1, Z2, Zj) exclusively to one of the agricultural robots (R1, R2, Ri), at least during the work phase considered, the width (Lz) of the majority of the working zones (Z1, Z2, Zj) being greater than or equal to the working width (Lr) of the agricultural robot (R1, R2, Ri) exclusively allocated to it, advantageously being equal to a multiple, preferably an integer,of the working width (Lr) of the agricultural robot (R1, R2, Ri) exclusively assigned to it and the exclusive assignment, during the execution of the work on the plot (P), of the working zones (Z1, Z2, Zj) not yet worked to the different agricultural robots (R1, R2, Ri) being carried out progressively according to the completion of the work in progress in the different working zones by the agricultural robots respectively assigned to them.

[0046] This system implements the process described above to ensure the management of the fleet of robots (R1, R2, Ri) during the work of a plot (P).

[0047] Of course, the invention is not limited to the embodiments described and shown in the accompanying drawings. Modifications to the embodiments remain possible, particularly with regard to the construction of the various elements, without departing from the scope of protection of the invention as defined by the claims.

Claims

1. Work method for simultaneously working a plot (P) by a fleet of at least two autonomous and independent agricultural machines or robots (R1, R2, ..., Ri), according to instructions and / or commands transmitted by a common central management and control system (SC), a method that is characterised in that it consists in subdividing said plot (P) to be processed, prior to the start of work on this plot (P) or progressively during work on it, into at least two distinct work zones (Z1, Z2, ..., Zj), such that the combined surface area of these work zones advantageously covers substantially all of the exploitable surface area of the plot and each work zone consists of a fraction of the plot in the form of a strip, and assigning each work zone (Z1, Z2, Zj) exclusively to one of the agricultural robots (R1, R2, Ri), at least during the work phase in question, the width (Lz) of the majority of the work zones (Z1, Z2, Zj) being equal to a multiple, greater than or equal to 1 and preferentially whole, of the working width (Lr) of the agricultural robot (R1, R2, Ri) exclusively assigned to it; and the exclusive assignment, during work on the plot (P), of work zones (Z1, Z2, Zj) not yet worked, respectively to the various agricultural robots (R1, R2, Ri), being achieved progressively according to the completion of work in the various work zones by the agricultural robots that have respectively been assigned to them, and in that the common central management and control system (SC) eliminates the need for communication between the agricultural robots (R1, R2, Ri).

2. Method according to claim 1, characterised in that, after an initial assignment of a first work zone exclusive to each agricultural robot, the following assignments, during work on the plot (P), of the work zones that have yet to be worked to different agricultural robots is carried out progressively according to the completion of work in the various work zones by the agricultural robots respectively assigned to them.

3. Method according to claim 1, characterised in that all of the work zones (Z1, Z2, Zj) are allocated to the various agricultural robots (R1, R2, Ri), with an exclusive assignment of one robot per zone, at the start of work on the plot (P), with the possibility of reallocation of the yet unworked work zones, between the various agricultural robots in question, taking place at a determined moment during work on the plot (P), according to the development of the behaviour, the availability and / or the status of the various robots, or indeed the actual or foreseeable progress of the work in the work zones still being worked at that determined moment by the respective robots that have been exclusively assigned to them.

4. Method according to any one of claims 1 to 3, characterised in that at least the initial assignment or first assignment of the exclusive work zones (Z1, Z2, Zj) follows an alternative allocation rule, cyclical, repetitive or arbitrary, for the various robots in successive neighbouring work zones resulting from the subdivision of the plot (P), said work zones consisting either of substantially straight strips arranged side by side, in the case of a polygonal plot (P) with at least a partial peripheral headland (F), or of substantially circular strips arranged concentrically, in the case of a disc-shaped plot (P) with a headland (F) extending along a radius.

5. Method according to any of claims 1 to 4, characterised in that it consists in implementing agricultural robots (R1, R2, Ri) performing the same type of work, said robots preferably having identical working widths (Lr), and advantageously being of the same type.

6. Method according to any of claims 1 to 5, characterised in that it consists in providing, between at least two neighbouring work zones (Z1, Z2, Zj), an intermediate zone (Z') in the form of a band that should not be worked by the agricultural robots (R1, R2, Ri).

7. Method according to any one of claims 1 to 6, characterised in that it consists of performing a new assignment of the work zones (Z1, Z2, Zj) not yet worked to the various agricultural robots (R1, R2, Ri) present and operational, when adding a new robot, when a robot is withdrawn or leaves, or when an active robot is shut down in a work zone, this reassignment being operated by the common central management and control system (SC) and transmitted to the various robots.

8. Method according to any one of claims 1 to 8, characterised in that the movement of an agricultural robot (R1, R2, Ri) in a work zone (Z1, Z2, Zj) that has been exclusively allocated to it is defined so that it does not cross paths with a robot from a neighbouring or adjacent work zone, in the borders adjoining said two zones.

9. Agricultural machinery assembly for the automated working of plots (P) consisting of a fleet of at least two autonomous and independent agricultural machines or robots (R1, R2, ..., Ri), mobile and equipped with appropriate tools, and a common central management and control system (SC) suitable for communicating with said robots in order to send them instructions and / or commands and in turn to receive information on the operation and / or status of said robots, each robot furthermore being equipped with a satellite positioning or location device, an assembly characterised in that said central management and control system (SC) includes means for, firstly, subdividing said plot (P) to be worked, prior to the start of work on this plot (P) and / or progressively during work on it, into at least two distinct work zones (Z1, Z2, ..., Zj), such that the combined surface area of these work zones advantageously covers substantially all of the surface area of the plot and each work zone consists of a fraction of the plot in the form of a strip and, secondly, assigning each work zone (Z1, Z2, Zj) exclusively to one of the agricultural robots (R1, R2, Ri), at least during the work phase in question, the width (Lz) of the majority of the work zones (Z1, Z2, Zj) being greater than or equal to the working width (Lr) of the agricultural robot (R1, R2, Ri) exclusively assigned to it, being advantageously equal to a multiple, preferably whole, of the working width (Lr) of the agricultural robot (R1, R2, Ri) exclusively assigned to it; and the exclusive assignment, during work on the plot (P), of work zones (Z1, Z2, Zj) not yet worked to the various agricultural robots (R1, R2, Ri) being achieved progressively according to the completion of work in the various work zones by the agricultural robots that have respectively been assigned to them and in that the common central management and control system (SC) eliminates the need for communication between the agricultural robots (R1, R2, Ri).

10. Assembly according to claim 9, characterised in that it implements the method according to any one of claims 1 to 8 to manage the fleet of robots (R1, R2, Ri) during the working of a plot (P).