Control device for at least one mobile agricultural machine within an agricultural plot

Abstract

Control device for at least one mobile agricultural machine within an agricultural plot. The invention relates to a control device for a mobile agricultural machine within an agricultural plot (2) comprising: - a mobile agricultural machine, - a processing and control unit comprising a memory containing input mapping data for at least one risk zone (3) located within at least one agricultural plot (2), said device is characterized in that said memory comprises data representing a set of types of risk zones (3) called categories and data representing a set of specific behaviors of said agricultural machine, in that said processing and control unit is configured to associate the input mapping data of at least one risk zone (3) with at least one category.in that said processing and control unit is configured to associate said at least one category with at least one specific behavior of said at least one mobile agricultural machine, in that said processing and control unit is configured to control said at least one specific behavior of said mobile agricultural machine, if the position of said agricultural machine is located in or near said at least one risk zone (3), in that said mobile agricultural machine is arranged to move autonomously within the agricultural plot (2) according to said at least one specific behavior controlled by said processing and control unit. Figure to be published with the abbreviation: Fig. 5,

Description

Title of the invention: Device for controlling at least one mobile agricultural machine within an agricultural plot

[0001] The present invention relates to the field of devices for controlling at least one mobile agricultural machine in an agricultural plot and the methods implementing such devices.

[0002] An agricultural plot usually comprises one or more areas known to the farmer in which a mobile agricultural machine or a tool associated with a mobile agricultural machine must not go and / or not work and / or behave differently. These areas known to the farmer will be called risk zones in the remainder of the description.

[0003] Currently, the adaptation of the behavior of the mobile agricultural machine within the agricultural plot is done manually by the driver of the mobile agricultural machine. For example, if an obstacle is present in the agricultural plot then the driver will go around the obstacle. In other situations, the driver may for example be required to adapt the setting of the tool according to the area of ​​the agricultural plot in which he is located. Consequently, the driver of the mobile agricultural machine cannot work optimally, because he must pay attention to the different risks he encounters within the agricultural plot, which requires him to work more slowly in the majority of cases. There is also a risk that the driver forgets to make an adjustment, which can lead to a lower quality of work and therefore a non-optimal yield.

[0004] Within an agricultural plot, the driver of the mobile agricultural machine may be required to carry out with his mobile agricultural machine, by way of non-limiting examples, the following agricultural operations: working the soil (ploughing, stubble cultivation, etc.), sowing, weeding, hoeing, spreading, spraying liquid or solid fertilizer or phytosanitary products, harvesting (harvesting, silage, etc.), mowing, tedding, windrowing, baling, etc.

[0005] Within an agricultural plot, the driver of the mobile agricultural machine may encounter, by way of non-limiting examples, the following risk areas: watercourses, electric poles, roadsides, dwellings, wetlands, stony areas, irrigation passages, etc.

[0006] Within an agricultural plot, the driver of the mobile agricultural machine may be required to make the mobile agricultural machine adopt, by way of non-limiting examples, the following specific behaviors: slow down around an obstacle, reduce a working depth in an area where the soil is "heavy", cut off the distribution fertilizer near a river, reduce working speed in a sloping area to reduce the risk of overturning, etc.

[0007] The different behaviors can also be specific to an operation or a season or even to the day the work is carried out. For example, if a tree has fallen in the plot, it will have to be taken into account on the day of the operation but not necessarily the next time, because it may have been cleared by then.

[0008] Specific behavior may also be imposed by existing legislation. For example, in Germany, legislation prohibits the distribution of fertilizers along watercourses over a given width.

[0009] To assist the driver of the mobile agricultural machine when working an agricultural plot, a system and a method are already known from publication US2020113123A1 in which depth recommendation maps of an implement of an agricultural vehicle are used. This solution has the disadvantage of being limited to optimizing the depth of an implement in an agricultural plot.

[0010] To assist the driver of the mobile agricultural machine when working on an agricultural plot, a system and a method are already known from publication EP3518647B1 which make it possible to determine an optimized trajectory to be followed by an agricultural work vehicle, when working on an agricultural plot, in particular if an obstacle is present in the agricultural plot. This solution has the disadvantage of being limited to optimizing the trajectory of the agricultural vehicle in an agricultural plot.

[0011] The present invention aims to overcome at least one of these drawbacks and aims to provide a solution allowing different types of risk zones to be taken into account by a mobile agricultural machine when working autonomously on an agricultural plot, so that the latter can adapt its behavior effectively according to its environment to optimize the work.

[0012] The invention relates to a device according to claim 1.

[0013] The invention also relates to a method according to claim 12.

[0014] The invention will be better understood from the following description, which relates to several preferred embodiments, given as non-limiting examples, and explained with reference to the appended schematic drawings, in which:

[0015] [Fig-1] [Fig.l] represents a first possibility of an agricultural plot comprising three risk zones and within which an agricultural machine of the control device according to the invention operates, during an autonomous evolution step in accordance with the method according to the invention,

[0016] [Fig.2] [Fig.2] represents a second possibility of agricultural plot comprising two risk zones and within which two agricultural machines of the control device according to the invention operate, during the autonomous operation step in accordance with the method according to the invention,

[0017] [Fig.3] [Fig.3] represents a third possibility of an agricultural plot comprising two risk zones and within which two agricultural machines of the control device according to the invention operate, during the autonomous operation step in accordance with the method according to the invention,

[0018] [Fig.4] [Fig.4] represents a fourth possibility of agricultural plot comprising three risk zones and within which two agricultural machines of the control device according to the invention operate, during the autonomous operation step in accordance with the method according to the invention,

[0019] [Fig.5] [Fig.5] represents a map of the agricultural plot of [Fig.2] and the data relating to a first risk zone which are displayed on a screen of the control device according to the invention, and

[0020] [Fig.6] [Fig.6] represents a map of the agricultural plot of [Fig.2] and the data relating to a second risk zone which are displayed on the screen of the control device according to the invention.

[0021] A device for controlling at least one agricultural machine 1 mobile within an agricultural plot 2, comprises at least: - at least one mobile agricultural machine 1 comprising at least one location element, for example a GPS, - a processing and control unit comprising at least one memory, said at least one memory comprising at least input data for mapping at least one risk zone 3 located within at least one agricultural plot 2.

[0022] According to the invention, said device is characterized: in that said memory comprises at least data representative of a set of types of risk zones 3 called categories and data representative of a set of specific behaviors of said at least one mobile agricultural machine 1, in that said processing and control unit is configured to associate the mapping input data of at least one risk zone 3 with at least one category, in that said processing and control unit is configured to associate said at least one category with at least one specific behavior of said at least one mobile agricultural machine 1, in that said processing and control unit is configured to control said at least one behavior specific to said mobile agricultural machine 1, if the position of said agricultural machine 1 is located in or near said at least one risk zone 3, in that said mobile agricultural machine 1 is arranged to move autonomously within the agricultural plot 2 according to said at least one specific behavior controlled by said processing and control unit.

[0023] Advantageously, when a risk zone 3 is delimited in the agricultural plot 2 using the mapping input data, the processing and control unit associates at least one category with them. In addition, the processing and control unit associates at least one specific behavior with said at least one category. Thus, the processing and control unit can command said at least one mobile agricultural machine 1 to adopt at least one specific behavior in the risk zone 3, for example by means of at least one control signal. Said at least one specific behavior is applied automatically and autonomously by said at least one mobile agricultural machine 1 according to its position in the agricultural plot 2.Thus, the control device according to the invention advantageously allows said at least one mobile agricultural machine 1 to operate completely autonomously, that is to say without human intervention, in the agricultural plot 2, by adapting its behavior effectively according to its environment, that is to say by taking into account risk zones 3 located in the agricultural plot 2, so as to optimize the work in the agricultural plot 2. In addition, the different specific behaviors are applied by said at least one mobile agricultural machine 1 automatically according to its position in the agricultural plot 2. This configuration according to the invention promotes the precision of the guidance of said at least one mobile agricultural machine 1 in the agricultural plot 2 containing one or more risk zones 3.It also makes it possible to simplify the implementation and automation of the behaviors necessary for the work of said at least one mobile agricultural machine 1 in the agricultural plot 2, namely for example the protection of said at least one mobile agricultural machine 1, the optimization of the work of said at least one mobile agricultural machine 1 (dose, depth, etc.) and compliance with the regulations in force.

[0024] Example 1: if the risk zone 3 is categorized as being a residential area and the agricultural operation to be carried out by the mobile agricultural machine 1 is a phytosanitary treatment, then the processing and control unit of the control device according to the invention will automatically command the mobile agricultural machine 1 to cut off the distribution of these products in the risk zone 3 defined as a specific behavior.

[0025] Example 2: if the risk zone 3 is identified as being a body of water (lake, pond, etc.), then the risk zone 3 is associated with a category which corresponds to an obstacle which cannot be crossed by the mobile agricultural machine 1 and then the processing and control unit of the control device according to the invention will automatically command the mobile agricultural machine 1 to behave specifically in the way of not working in the defined risk zone 3, regardless of the type of agricultural operation carried out.

[0026] Example 3: if the risk zone 3 is identified as being an irrigation passage, then the risk zone 3 is associated with a category which corresponds to an obstacle which can be crossed by the mobile agricultural machine 1 and then the processing and control unit of the control device according to the invention will automatically command the mobile agricultural machine 1 to behave specifically in the manner of not working in the defined risk zone 3, regardless of the type of agricultural operation carried out.

[0027] Preferably, said processing and control unit is configured to control said at least one behavior specific to said mobile agricultural machine 1, if the position of said agricultural machine 1 is located strictly in said at least one risk zone 3 and said mobile agricultural machine 1 is arranged to move autonomously inside said at least one risk zone 3 according to said at least one specific behavior controlled by said processing and control unit.

[0028] For example, in the case of a risk zone 3 of the slope type, the mobile agricultural machine 1 adopts the specific behavior only when it enters the actual closed contour of the risk zone 3 on a slope.

[0029] Alternatively and preferably, said processing and control unit is configured to control said at least one behavior specific to said mobile agricultural machine 1, if the position of said agricultural machine 1 is located near said at least one risk zone 3 and said mobile agricultural machine 1 is arranged to move autonomously near said at least one risk zone 3 according to said at least one specific behavior controlled by said processing and control unit.

[0030] Advantageously, the mobile agricultural machine 1 adopts the specific behavior when approaching or in the vicinity of the risk zone 3. To do this, distance values ​​defining the proximity of the risk zone 3 can be defined automatically by the automaton according to the category and / or the behavior selected / imposed or by the user.

[0031] Alternatively and preferably, said at least one memory comprises at least input data for mapping at least one enlarged zone 30 around said at least one risk zone 3, said processing and control unit is configured to control said at least one behavior specific to said mobile agricultural machine 1, if the position of said agricultural machine 1 is located in said at least one enlarged zone 30 around said at least one risk zone 3 and said mobile agricultural machine 1 is arranged to move autonomously within said at least one enlarged zone 30 according to said at least one specific behavior controlled by said processing and control unit.

[0032] In addition to the mapping data which define the actual or proper closed contour of the risk zone 3, it is additionally possible to define an enlarged zone 30 of the risk zone 3 which can also be delimited by an enlarged closed contour of larger dimension than the actual or proper closed contour of the risk zone 3. The actual closed contour is located inside the enlarged closed contour of the risk zone 3. This is particularly advantageous when certain categories are selected, for example an impassable obstacle. [Fig.l] shows for example an enlarged zone 30 which corresponds substantially to the hatched area around the obstacle, namely a pond in the illustrated example. In this enlarged zone 30, the mobile agricultural machine 1 adopts at least the specific commanded behavior. In the case of an impassable obstacle, this allows the agricultural machine 1 to slow down when approaching the obstacle and not to brake suddenly in front of it. This enlarged zone 30 can be defined automatically from the contour surveyed by the automaton or by the user, namely the geometric shape of the enlarged zone 30 and the dimensions thereof.

[0033] Preferably, said processing and control unit is connected to a human-machine interface described below and the processing and control unit is configured to display on said human-machine interface the mapping input data of at least one enlarged zone 30. The mapping input data of at least one enlarged zone 30 can be entered and then displayed on a screen, for example in the form of a list of parameters 31 as illustrated in FIGS. 5 and 6.

[0034] In practice, to control said at least one behavior specific to said mobile agricultural machine 1, if the position of said agricultural machine 1 is located in or near said at least one risk zone 3, the processing and control unit is preferably configured to send at least one control signal representative of the specific behavior to the mobile agricultural machine 1. For its part, said mobile agricultural machine 1 is configured to process the control signal representative of the specific behavior, so as to move in the agricultural plot 2 or in the risk zone 3 by adopting the specific behavior. Preferably, the transmission / reception of the control signal is done remotely between the processing and control unit and said mobile agricultural machine 1 by wireless communication means, for example of the radiofrequency type.This configuration is preferred when the processing and control unit and said mobile agricultural machine 1 are two distinct and separate entities, distant from each other.

[0035] A mobile agricultural machine 1 is understood to mean an agricultural vehicle 4 or an agricultural vehicle 4 associated with at least one agricultural tool 5 or an agricultural vehicle 4 incorporating at least one agricultural tool 5. The mobile agricultural machine 1 may be autonomous, that is to say that it does not require the intervention of a driver to move in the agricultural plot 2 and / or carry out an operation in the agricultural plot 2. The autonomous mobile agricultural machine 1 may consist of an agricultural robot. Said at least one agricultural machine 1 mobile can consist for example of a fleet of mobile agricultural machinery 1.

[0036] Agricultural plot 2 means an agricultural area delimited by a preferably closed contour, as illustrated in Figures 1 to 4.

[0037] The term “processing and control unit” means a programmable information processing system. The processing and control unit may be remote and consist, for example, of a computer or a tablet or a smartphone. The processing and control unit may alternatively be part of the mobile agricultural machine 1. Since the processing and control unit is programmable, it may comprise at least one software program. The processing and control unit allows at least the transmission of said at least one control signal to said at least one agricultural machine 1 and therefore performs a control function. The processing and control unit also allows at least the different types of data mentioned above to be associated with each other and therefore performs a data processing function.The processing and control unit may include a control subsystem that performs the control function and a separate processing subsystem that performs the processing function. Alternatively, the control and processing unit may include a single processing and control system that performs both the processing function and the control function.

[0038] A risk zone 3 is understood to mean a closed contour located within the agricultural plot 2, as illustrated in Figures 1 to 4.

[0039] According to a first possibility represented in [Fig. 1], the agricultural plot 2 comprises three risk zones 3, namely a risk zone 3 of the “pond” type, a risk zone 3 of the “electric pole” type and a risk zone 3 of the “houseside” type.

[0040] According to a second possibility shown in [Fig.2], the agricultural plot 2 comprises two risk zones 3, namely a risk zone 3 of the “forest” type and a risk zone 3 of the “roadside” type.

[0041] According to a third possibility shown in [Fig.3], the agricultural plot 2 comprises two risk zones 3, namely a risk zone 3 of the “pond” type and a risk zone 3 of the “forest edge” type.

[0042] According to a fourth possibility shown in [Fig.4], the agricultural plot 2 comprises three risk zones 3, namely a risk zone 3 of the “pond” type and a risk zone 3 of the “forest edge” type.

[0043] The mapping input data of at least one risk zone 3 may consist of geographic or GPS coordinates. The mapping input data may be obtained during the surveying of the agricultural plot 2 and be manually recorded and then transmitted to the processing and control unit. The mapping input data may alternatively be delimited by a user lizer on a map of the agricultural plot 2 displayed by a human-machine interface, such as a screen, which the control device according to the invention comprises. In this case, the user delimits at least one closed contour on the map of the agricultural plot 2 displayed by the screen. In this case, for example, the entry of risk zone 3 can be done manually by the operator by entering points or by hand drawing polygons. The entry into the processing and control unit of mapping input data of at least one risk zone 3 is preferably ideally done before the start of the operation of the mobile agricultural machine 1 in the agricultural plot 2. In the case where it is desired to add or modify data representative of a set of types of risk zones 3 during the autonomous agricultural operation, then the entire agricultural operation is preferably stopped for said at least one mobile agricultural machine 1.An alternative solution to completely stopping the agricultural operation would be to allow the user to add or modify data representing a set of risk zone types 3 during the autonomous agricultural operation as long as no agricultural machine 1 has reached the risk zone 3 to be edited. This solution would allow adaptation of risk zones 3 "on the fly" while limiting the risks of conflicts and inconsistencies due to the modification of a risk zone 3, just before, during or after work on it by an agricultural machine 1.

[0044] Data representative of a set of risk zone types 3 called categories is understood to mean information on the typology or nature of the risk zone 3. For example, this data may be in the form of a database or a library. Thus, for example, data representative of a set of categories may include the following non-exhaustive list: roadside, residential area, forest area, passable obstacle, impassable obstacle, stony area, clay area, sloping area, etc. For example, an impassable obstacle may correspond to a body of water or a fallen tree in the agricultural plot 2. For example, a passable obstacle may correspond to an irrigation passage.The entry into the memory of the processing and control unit of data representative of a set of types of risk zones 3 called categories is preferably done ideally before the start of the operation of the mobile agricultural machine 1 in the agricultural plot 2. In the case where it is desired to add or modify data representative of a category during the autonomous agricultural operation, then the entire agricultural operation is stopped for said at least one mobile agricultural machine 1. A risk zone 3 can be characterized by one or more combined categories, for example: on a slope and at the edge of a road.

[0045] Data representative of a set of specific behaviors of said at least one mobile agricultural machine 1 is understood to mean information on the agricultural operation to be carried out or not by the mobile agricultural machine 1 and / or information on its travel path or its travel speed. For example, this data may be in the form of a database or a library. Thus, for example, data representative of a set of specific behaviors may include the following non-exhaustive list: slowing down around an obstacle, reducing working depth in an area where the soil is "heavy", cutting off fertilizer distribution near a river, reducing working speed in a sloping area, etc. Specific behaviors may concern only the agricultural vehicle or only the agricultural implement or agricultural implements associated with it. A combination of actions on both sets, agricultural vehicle and agricultural implement(s), is also possible.The entry into the memory of the processing and control unit of data representative of a set of specific behaviors is preferably done ideally before the start of the operation of the mobile agricultural machine 1 in the agricultural plot 2. In the case where it is desired to add or modify data representative of specific behaviors during the autonomous agricultural operation, then the entire agricultural operation is preferably stopped for said at least one mobile agricultural machine 1.

[0046] Preferably, said processing and control unit is configured to associate the mapping input data of at least one risk zone 3 with at least one category from selection instructions received from a user or from an automaton consisting of selecting at least one category called selected from a set of possible predefined categories for said at least one risk zone 3 or from a set of additional categories not contained in said set of possible predefined categories for said at least one risk zone 3.

[0047] Advantageously, a user or an automaton can select at least one so-called selected category from a set of possible predefined categories for said at least one risk zone 3 or alternatively from a set of additional categories not contained in said set of possible predefined categories for said at least one risk zone 3. The user or the automaton thus has a predefined library or an additional library in the case where he wishes to select as a so-called selected category, a category in particular in addition to the categories already provided. The processing and control unit is configured to associate the mapping input data of at least one risk zone 3 with said at least one so-called selected category which has been selected by the user or the automaton.In this case, the said set of possible predefined categories or the said set of additional categories is proposed to the user or the automaton which will validate them or not at the time of categorization.

[0048] Preferably, said processing and control unit is connected to a human-machine interface and the processing and control unit is configured to display on said human-machine interface at least said set of possible predefined categories for said at least one risk zone 3.

[0049] The human-machine interface may comprise at least one keyboard and / or a mouse and / or a touchpad and / or a screen. The human-machine interface may be a separate entity from the processing and control unit or be part of it.

[0050] In this case, said set of possible predefined categories or said set of additional categories is proposed to the user or the automaton via the human-machine interface. As illustrated in Figures 5 and 6, this thus makes it possible, for example, to display on a screen a list 6 representative of said set of possible predefined categories or of said set of additional categories for each of the two risk zones 3. From this list 6 displayed on the screen, the user or the automaton will be able to select said at least one so-called selected category. To do this, the user or the automaton will be able, for example, to check a box associated with the so-called selected category. A checked box 7 associated with the so-called selected category will be able to be displayed on the screen as illustrated in Figures 5 and 6.In the examples of Figures 5 and 6, the list 6 representative of said set of possible predefined categories comprises a set of five categories A, B, C, D, and E. In the example of [Fig.5], for the first risk zone 3 a single selected category is selected by the user or the automaton from the list 6 and is displayed on the screen in the form of a checked box 7 respectively opposite category B. In the example of [Fig.6], for the second risk zone 3 two selected categories are selected by the user or the automaton from the list 6 and are displayed on the screen in the form of two checked boxes 7 respectively opposite categories C and D.

[0051] Preferably, said human-machine interface is configured to transmit to the processing and control unit said at least one category selected by said user.

[0052] Advantageously, thanks to this configuration, said at least one so-called selected category which has been selected by the user or the automaton can be transmitted to the processing and control unit.

[0053] Preferably, said processing and control unit is configured to associate said at least one selected category with at least one specific behavior of said at least one mobile agricultural machine 1 from instructions received by a user or an automaton consisting of selecting at least one specific behavior said to be selected from a set of possible specific behaviors for said at least one selected category or from a set of additional specific behaviors not contained in said set of possible specific behaviors for said at least one selected category.

[0054] Advantageously, a user or an automaton can select at least one com specific behavior said to be selected from a set of specific behaviors possible for said at least one selected category or from a set of additional specific behaviors not contained in said set of specific behaviors possible for said at least one selected category. The user or the automaton thus has a predefined library or an additional library in the event that he wishes to select as specific behavior said to be selected, a specific behavior in particular in addition to the specific behaviors already provided. The processing and control unit is configured to associate said at least one category said to be selected with at least one specific behavior said to be selected following a selection operation carried out by the user or the automaton.In this case, the said set of possible specific behaviors or the said set of additional specific behaviors is proposed to the user or the automaton which will validate them or not.

[0055] In this case, said processing and control unit is preferably connected to a human-machine interface and the processing and control unit is configured to display on said human-machine interface at least said set of possible specific behaviors that can be associated with said at least one selected category.

[0056] This human-machine interface is preferably as described above and thus makes it possible, for example, to display on a screen a list representative of said set of possible specific behaviors or of said set of additional specific behaviors for said at least one selected category. From this list, the user or the automaton will be able to select said at least one specific behavior called selected. This said at least one specific behavior called selected may be entered and then displayed on the screen, for example, in the form of a list of parameters 8 per specific behavior selected. In the example of [Fig.5], the list of parameters 8 for a single specific behavior selected referenced “behavior(s)” and which is associated with category B includes a first parameter referenced “parameter 1” relating to the speed of the agricultural machine 1, a second parameter referenced “parameter 2” relating to the working depth and a third parameter referenced “parameter 3” relating to the operation of a system for distributing agricultural products such as seeds, fertilizers or phytosanitary products by the agricultural machine 1. In the example of [Fig.6], the list of parameters 8 for a first specific behavior selected referenced “behavior(s) C” which is associated with category C includes a first parameter referenced “parameter 1” relating to the speed of the agricultural machine 1, a second parameter referenced “parameter 2” relating to the working depth and a third parameter referenced “parameter 3” relating to the operation of a distribution system. agricultural product such as seeds, fertilizers or phytosanitary products by the agricultural machine 1. In the example of [Fig.6], the list of parameters 8 for a second specific behavior selected referenced “behavior(s) D” which is associated with category D includes a first parameter referenced “parameter 1” relating to the speed of the agricultural machine 1, a second parameter referenced “parameter 2” relating to the working depth and a third parameter referenced “parameter 3” relating to the operation of a distribution system for agricultural product such as seeds, fertilizers or phytosanitary products by the agricultural machine 1.

[0057] Preferably, said human-machine interface is configured to transmit to the processing and control unit said at least one specific behavior said to be selected by said user.

[0058] Advantageously, thanks to this human-machine interface, said at least one specific behavior called selected which has been selected by the user or the automaton can be transmitted to the processing and control unit.

[0059] Preferably, said processing and control unit is configured to store in said at least one memory at least one specific behavior called selected associated with said mapping input data.

[0060] Advantageously, this storage subsequently allows the mobile agricultural machine 1 to be commanded again to the same specific behavior called selected if the same risk zone 3 is encountered again in the same agricultural plot 2. This storage may be temporary or permanent. Indeed, for example, if the risk zone 3 is associated with a temporary event, for example a temporary obstacle due to bad weather: a falling tree and / or a wetland in the agricultural plot 2, then the storage of the selected specific behavior will be temporary, since it is more likely that this temporary obstacle will no longer be present in the agricultural plot 2 the next time.On the other hand, if risk zone 3 is associated with a permanent event, for example a permanent hazard such as a sloping area in agricultural plot 2, then the storage of the specific behavior selected will be permanent, since it is more likely that this hazard will still be present in agricultural plot 2 the next time.

[0061] Alternatively, said processing and control unit is configured to associate said at least one selected category with at least one specific behavior of said at least one mobile agricultural machine 1 from automated instructions consisting of imposing at least one specific behavior called imposed from a set of possible specific behaviors for said at least one selected category.

[0062] Advantageously, in this case, it is not the user or the automaton that selects said at least one specific behavior. On the contrary, the processing andcontrol is configured to associate said at least one so-called selected category with at least one specific so-called imposed behavior, without possible intervention from the user or the automaton. Thus this specific imposed behavior may correspond to a specific behavior imposed by the legislation in force, such as an environmental regulation that must be respected. For example, in certain countries, the legislation prohibits the distribution of fertilizers along waterways over a given width. Another example consists of limiting a dose in order to comply with specific legislation. In this case, the imposed behavior limits the maximum dose of the input to be distributed according to the law. The processing and control unit may for example include a database integrating the different legislation specific to certain geographical areas.The GPS position of the plot to be worked can thus be correlated with this database in order to apply the imposed behaviors if necessary.

[0063] Preferably, the processing and control unit is connected to at least one human-machine interface comprising a screen and the processing and control unit is configured to display on said screen at least one map 9 of the agricultural plot 2 comprising at least one real closed contour 10 of the risk zone 3 and / or an enlarged closed contour of the enlarged zone 30 and said at least one selected category.

[0064] Advantageously, this configuration allows the user or the automaton to view on the screen at least one map of the agricultural plot 2 comprising a closed contour of the risk zone 3 and said at least one selected category. As illustrated in Figures 5 and 6, the map 9 of the agricultural plot which is displayed on the screen shows two risk zones 3 each delimited by a closed contour 10.

[0065] The invention also relates to a method for controlling at least one mobile agricultural machine 1 within an agricultural plot 2.

[0066] In accordance with the invention, the method is implemented by the device according to the invention and as described previously and comprises at least the following steps: - a step of storing risk zone 3, category and specific behavior, during which input data for mapping at least one risk zone 3 located within at least one agricultural plot 2, data representative of a set of types of risk zones 3 called categories and data representative of a set of specific behaviors of said at least one mobile agricultural machine 1 are recorded in at least one memory that comprises a processing and control unit of the device, - a first data association step, during which said mapping input data of at least one risk zone 3 are associated with at least one category by said processing and control unit, - a second data association step, during which said at least one category is associated with at least one specific behavior of said at least one mobile agricultural machine 1 by said processing and control unit, - a step of controlling the agricultural machine 1, during which said processing and control unit controls said behavior specific to said mobile agricultural machine 1 if the position of said agricultural machine 1 is located in or near said at least one risk zone 3, - a step of autonomous evolution of the agricultural machine 1 in the agricultural plot 2, during which said mobile agricultural machine 1 evolves autonomously within the agricultural plot 2 according to said at least one specific behavior controlled by said processing and control unit (figures 1 to 4).

[0067] Preferably, during the first data association step, said processing and control unit associates the mapping input data of at least one risk zone 3 with at least one category from selection instructions received by a user or an automaton consisting of selecting at least one category called selected from a set of possible predefined categories for said at least one risk zone 3 or from a set of additional specific behaviors not contained in said set of possible specific behaviors for said at least one selected category.

[0068] Preferably, during the second data association step, said processing and control unit associates said at least one selected category with at least one specific behavior of said at least one mobile agricultural machine 1 from instructions received by a user or an automaton consisting of selecting at least one specific behavior said to be selected from a set of possible specific behaviors for said at least one selected category or from a set of additional specific behaviors not contained in said set of possible specific behaviors for said at least one selected category.

[0069] Alternatively, during the second data association step, said processing and control unit associates said at least one selected category with at least one specific behavior of said at least one mobile agricultural machine 1 from automated instructions consisting of imposing at least one specific behavior called imposed from a set of possible specific behaviors for said at least one selected category.

[0070] Of course, the invention is not limited to the embodiments described and shown in the attached drawings. Modifications remain possible, in particular from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

Claims

1. Device for controlling at least one agricultural machine (1) mobile within an agricultural plot (2), said device comprising at least: - at least one mobile agricultural machine (1) comprising at least one location element, for example a GPS, - a processing and control unit comprising at least one memory, said at least one memory comprising at least input mapping data of at least one risk zone (3) located inside at least one agricultural plot (2), said device is characterized in that said memory comprises at least data representative of a set of types of risk zones (3) called categories and data representative of a set of specific behaviors of said at least one mobile agricultural machine (1), in that said processing and control unit is configured to associate the input mapping data of at least one risk zone (3) with at least one category,in that said processing and control unit is configured to associate said at least one category with at least one specific behavior of said at least one mobile agricultural machine (1), in that said processing and control unit is configured to control said at least one specific behavior of said mobile agricultural machine (1), if the position of said agricultural machine (1) is located in or near said at least one risk zone (3), in that said mobile agricultural machine (1) is arranged to move autonomously within the agricultural plot (2) according to said at least one specific behavior controlled by said processing and control unit.,

2. Device according to claim 1, characterized in that said at least one memory comprises at least input data for mapping at least one enlarged zone (30) around said at least one risk zone (3), and in that said processing and control unit is configured to control said at least one behavior specific to said mobile agricultural machine (1), if the position of said agricultural machine (1) is located in said at least one enlarged zone (30) around said at least one risk zone (3) and in that said mobile agricultural machine (1) is arranged to evolve autonomously within said at least one enlarged zone (30) according to said at least one specific behavior controlled by said processing and control unit.

3. Device according to any one of claims 1 to 2, characterized in that said processing and control unit is configured to associate the mapping input data of at least one risk zone (3) with at least one category from selection instructions received from a user or from an automaton consisting of selecting at least one category called selected from a set of possible predefined categories for said at least one risk zone (3) or from a set of additional categories not contained in said set of possible predefined categories for said at least one risk zone (3).

4. Device according to claim 3, characterized in that said processing and control unit is connected to a human-machine interface and in that the processing and control unit is configured to display on said human-machine interface at least said set of possible predefined categories for said at least one risk zone (3).

5. Device according to claim 4, characterized in that said human-machine interface is configured to transmit to the processing and control unit said at least one category selected by said user.

6. Device according to any one of claims 3 to 5, characterized in that said processing and control unit is configured to associate said at least one selected category with at least one specific behavior of said at least one mobile agricultural machine (1) from instructions received by a user or an automaton consisting of selecting at least one specific behavior said to be selected from a set of specific behaviors possible for said at least one selected category or from a set of additional specific behaviors not contained in said set of specific behaviors possible for said at least one selected category.

7. Device according to claim 6, characterized in that said processing and control unit is connected to a human-machine interface and in that the processing and control unit is configured to display on said human-machine interface at least said set of possible specific behaviors that can be associated with said at least one selected category.

8. Device according to claim 7, characterized in that said human-machine interface is configured to transmit to the processing and control unit said at least one specific behavior said to be selected by said user.

9. Device according to any one of claims 3 to 8, characterized in that said processing and control unit is configured to store in said at least one memory at least one specific behavior called selected associated with said mapping input data.

10. Device according to any one of claims 3 to 6, characterized in that said processing and control unit is configured to associate said at least one selected category with at least one specific behavior of said at least one mobile agricultural machine (1) from automated instructions consisting of imposing at least one specific behavior called imposed from a set of possible specific behaviors for said at least one selected category.

11. Device according to any one of claims 3 to 10, characterized in that the processing and control unit comprises at least one human-machine interface comprising a screen and in that the processing and control unit is configured to display on said screen at least one map (9) of the agricultural plot (2) comprising at least one real closed contour (10) of the risk zone (3) and / or an enlarged closed contour of the enlarged zone (30) and said at least one selected category.

12. Method for controlling at least one mobile agricultural machine (1) inside an agricultural plot (2), characterized in that the method is implemented by the device according to any one of claims 1 to 11 and in that it comprises at least the following steps: - a step of storing a risk zone (3), category and specific behavior, during which input data for mapping at least one risk zone (3) located inside at least one agricultural plot (2), data representative of a set of types of risk zones (3) called categories and data representative of a set of specific behaviors of said at least one mobile agricultural machine (1) are recorded in at least one of ... storing a risk zone (3) located inside at least one agricultural plot (2), data representative of a set of types of risk zones (3) called categories and data representative of a set of specific behaviors of said at least one mobile agricultural machine (1) are recorded in at least one of the following steps: - a step of storing a risk zone (3), category and specific behavior, during which input data for storing a risk zone (3) located inside at least one agricultural plot (2), data representative of a set of types of risk zones (3) called categories and data representative of a set of specific behaviors of said at least one mobile agricultural machine (1) are recorded in at least one of the following steps: - a step of storing a risk zone (3), category and specific behavior, during which input data at least one memory that comprises a processing and control unit of the device, - a first data association step, during which said input data for mapping at least one risk zone (3) are associated with at least one category by said processing and control unit, - a second data association step, during which said at least one category is associated with at least one specific behavior of said at least one mobile agricultural machine (1) by said processing and control unit, - a step of controlling the agricultural machine (1), during which said processing and control unit controls said specific behavior of said mobile agricultural machine (1) if the position of said agricultural machine (1) is located in or near said at least one risk zone (3), - a step of autonomous evolution of the agricultural machine (1) in the agricultural plot (2), during which said mobile agricultural machine (1) evolves autonomously within the agricultural plot (2) according to said at least one specific behavior controlled by said processing and control unit.

13. Method according to claim 12, characterized in that during the first data association step, said processing and control unit associates the mapping input data of at least one risk zone (3) with at least one category from selection instructions received by a user or an automaton consisting of selecting at least one category called selected from a set of possible predefined categories for said at least one risk zone (3) or from a set of additional specific behaviors not contained in said set of possible specific behaviors for said at least one selected category.

14. Method according to claim 13, characterized in that during the second data association step, said processing and control unit associates said at least one selected category with at least one specific behavior of said at least one mobile agricultural machine (1) from instructions received by a user or an automaton consisting of selecting at least one specific behavior said to be selected from a set of possible specific behaviors for said at least one selected category or from a set of additional specific behaviors not contained in said set of possible specific behaviors for said at least one selected category.

15. Method according to any one of claims 13 to 14, characterized in that during the second data association step, said processing and control unit associates said at least one selected category with at least one specific behavior of said at least one mobile agricultural machine (1) from automated instructions consisting of imposing at least one specific behavior called imposed from a set of possible specific behaviors for said at least one selected category.

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