How to adjust and / or calibrate agricultural machinery

Abstract

The invention relates to a method for adjusting and / or calibrating a mobile and driven agricultural machine with at least one tool (2) capable of working autonomously on an agricultural plot (3), hereinafter referred to as agricultural robot (1), characterized in that, in particular at the start of a work phase of a new agricultural plot, at an operator's request (5) or after a verification of the operator's request (5), the robot (1) is temporarily operated in a semi-autonomous mode during which, after verification of the operator (5), at least one operating parameter of the robot (1) and / or the at least one tool (2) is managed and adjusted by the operator (5) or the robot (1) or the tool (2) or a combination of these three, such that the next autonomous work phase is adjusted or calibrated.

Description

[Technical field]

[0001] The present invention relates to the field of agricultural machinery and more particularly to an agricultural machine capable of autonomous operation, i.e. of working (plowing, travail) an agricultural parcelle without the assistance of an operator. It concerns agricultural machinery that operates on the soil or plants of an agricultural plot by means of a machine, generally called an agricultural robot, which corresponds to a mobile and driven agricultural machine or hitch (attelage) equipped with at least one tool (integral, mounted, semi-mounted or towed) and with means (control, communication, localization or other means) that allow it to operate independently on the agricultural plot.

[0002] The subject of the present invention is the reggage and / or calibration of agricultural robots in this context. The key features are the calibration method and the operation method of the robot. [Background technology]

[0003] Such agricultural robots can be used alone to work a plot or as part of a flock of at least two robots assigned to a plot. Each robot can operate completely independently (using suggested maps, GPS, etc.) or can be managed by a flock of robots (une flotte). The robots in the swarm may or may not communicate with each other and may be assigned to work on a given part of a plot.

[0004] Using an autonomous agricultural machine to perform a farm task or part of a task on a plot generally involves essentially three major steps similar to the farming process of a traditional, non-autonomous machine, which is performed entirely under the control of an operator. .

[0005] The first step, performed by an operator, involves moving the agricultural robot and its tools to the plot to be treated, carrying out any mounting or assembly operations necessary for the robot to carry out the tasks it is to perform, and positioning it at the start of the route.

[0006] In the second step, the robot and its tools are reggaged and and / or calibrate, i.e., the operating parameters of the robot and its tools. The meter must be adjusted (set) to match as closely as possible the actual working conditions of the day and the characteristics of the plot to be worked on (humidity, temperature, wind, type and condition of soil, density, soil condition, type of plants to be treated, type and intensity of agricultural work to be performed, etc.). These parameters cannot be adjusted in advance and must be tested and adjusted in the field under real conditions by trial and error. Generally, several test cycles depending on the complexity of the adjustments and calibrations and the number of parameters involved will be required, each test cycle involving the robot working a short distance in mode autonome with a set of adjustments.

[0007] At the end of this cycle or after repeating this cycle, the operator verifies (visual inspection) whether the adjustments have been made correctly depending on the quality of the work performed. The visual inspection of the quality of the work performed can be carried out by the operator by direct observation of the agricultural plot or indirectly by means of at least one camera on the robot and / or on at least one tool. The images taken by the camera can be analyzed by the operator on a portable monitoring device. This allows a new test cycle with new settings to be performed if the quality of the work is insufficient, and work on the agricultural plot to be continued or resumed if the quality of the work is deemed satisfactory. This third step is carried out in a fully autonomous mode, where the robot uses the last verified settings to perform the agricultural work according to a predefined route, either independently or guided by a remote control system. Summary of the Invention [Problem to be solved by the invention]

[0008] The main object of the present invention is to provide a solution that allows adjusting and / or calibrating at least one operating parameter of at least one agricultural robot in response to actual conditions at the site more efficiently than current solutions, without using an autonomous working mode with adjustment and / or calibration steps as in the above-mentioned prior art, in particular an autonomous working mode with possibly repeated interruptions. [Means for solving the problem]

[0009] In order to achieve the above object, the subject of the present invention is a method for adjusting and / or calibrating a mobile, driven agricultural machine or hitch equipped with at least one tool, capable of working autonomously on a plot (hereinafter referred to as agricultural robot), which, at the start of a working phase (working phase) of a new agricultural plot, when resuming an interrupted working phase on a particular agricultural plot that has already been partially worked, according to a request of an operator (5) or a confirmation of the request of the operator, in case of a significant change in the characteristics of the plot during the autonomous work and / or a significant deterioration in the quality of the work performed by the agricultural robot during the autonomous work, operates said robot temporarily in "mode semi-autonomous" mode, in which case the robot is operated in a "semi-autonomous" mode during the next autonomous work phase (working phase), and (b) adjusting or calibrating the robot and / or at least one tool, after operator verification, by the operator, the robot, the tool, or a combination of the three, to control and adjust at least one operating parameter of the robot and / or at least one tool.

[0010] The invention further relates to a method for operating an agricultural robot for working on an agricultural plot incorporating the above mentioned adjustment and / or calibration method.

[0011] The invention will be better understood from the following description of preferred embodiments with reference to the accompanying schematic drawings given as non-limiting examples, without, however, restricting the invention to the following examples. [Brief description of the drawings]

[0012] [Figure 1] FIG. 2 is a conceptual plan view of an agricultural plot illustrating a state in which an agricultural robot works in semi-automatic mode together with an operator on a first part of the agricultural plot during a step of adjusting and / or calibrating at least one operating parameter according to the method of the present invention.

[0013] [Diagram 2] [Figure 1] shows the agricultural plot in the next step in which an agricultural robot works in autonomous mode using adjusted and calibrated parameters after completion of the steps shown in [Figure 1], and in another part of the same agricultural plot (right side) in [Figure 2] a second robot operating autonomously similar to [Figure 1] is working, but which has been adjusted and calibrated with the same working parameters.

[0014] [Figure 3A] and

[0015] [Figure 3B] represents an agricultural plot divided into two zones with different characteristics or worked at different times, a first smaller zone being worked with a first adjustment and calibration of the work parameters and a second larger zone being worked autonomously by the agricultural robot after a new operating phase in semi-autonomous mode corresponding to a new adjustment and calibration phase ([Figure 3A]) ([Figure 3B]).

[0016] [Figure 4] 1 is a flow chart illustrating an embodiment of a method of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] In [Figures 1] to [Figure 3], the route that the robot is to execute in the autonomous working mode is represented by a simple dashed line, and the route executed in the autonomous working mode is represented by a single solid line (solid line). In the same figures, the route executed by the robot in the semi-autonomous working mode (adjustment and / or calibration mode) is represented by a double-dashed line, and the agricultural plots that have already been executed in the semi-autonomous working mode are represented by a continuous double line (solid line).

[0018] [Figures 1] to [Figure 4] show, diagrammatically or symbolically, a process for adjusting and / or calibrating a mobile, driven agricultural machine or attelage (hereinafter referred to as an agricultural robot (1)) equipped with at least one tool (2) working autonomously on an agricultural plot (3).

[0019] The method according to the invention is characterized in that, at the start of a working phase on a new agricultural plot, when resuming an interrupted working phase on a given agricultural plot which has already been partially worked, if during the autonomous working there have been significant changes in the characteristics of the agricultural plot and / or if during the autonomous working the quality of the work performed by the agricultural robot (1) has significantly decreased, the method is arranged to, at the request of an operator (5) or upon verification of the request of the operator (5), temporarily operate the robot (1) in a semi-autonomous mode, in which at least one operating parameter of said robot (1) and / or at least one tool (2) is managed and adjusted, after verification by the operator (5), by the operator (5), by the robot (1), by the tool (2) or by a combination of these three, for adjustment or calibration in the next autonomous working phase.

[0020] That is, the present invention provides a specific operating mode of the agricultural robot (1) in which at least one operating parameter (which can of course be adjusted or calibrated) can be adjusted and / or calibrated directly by the operator (5), by the robot (1) itself, by the tool (2) itself or by a combination of these three, in real time under visual inspection of the operator depending on the current situation at the actual site, without initiating the autonomous operating mode (and therefore without the need to interrupt the autonomous operating mode).

[0021] The operating parameters to be adjusted / calibrated are managed and adjusted by the operator, while the other operating parameters (not changed at this stage) are managed by the robot as in the autonomous operating mode. In another embodiment of the method of the invention, it is advantageous for the other operating parameters (not changed at this stage) to be managed by the robot as well, when the relevant operating parameters are managed and adjusted by the robot. However, in any case the adjustments / calibrations must be verified by the operator before switching to the autonomous working mode.

[0022] Preferably, the part of the agricultural plot (3≡) that has been worked during an operating phase in semi-autonomous mode is not worked on again during the next autonomous working phase, i.e. the part of the agricultural plot (3≡) that has been covered during this particular semi-autonomous operating phase has already been worked on, thus reducing the area to be worked in the next autonomous working mode and thus increasing productivity.

[0023] At least one operating parameter of the agricultural robot (1) and / or the at least one tool (2) that is managed and adjusted by the operator (5) or the robot (1) or a combination of these three during the semi-autonomous operating phase is advantageously selected from the group consisting of: generated power, movement speed, movement direction, route over the agricultural plot (3), configuration of the robot (1) and position and / or orientation and / or configuration and / or operating parameters of the at least one tool (2).

[0024] Other operating parameters are controlled by the robot as in the autonomous mode.

[0025] Depending on the type of robot and / or the nature of the tool involved, the method allows for the adjustment and / or calibration of at least two different operating parameters during the semi-autonomous operating mode, so that the management and adjustment can be carried out simultaneously or independently or at least in two consecutive phases separately, i.e. for example, the operator can adjust the configuration of the tool (2) and the advancement speed of the robot (1) simultaneously or consecutively;

[0026] In the simplest case, typically, an operating phase in semi-autonomous mode comprises only one operating cycle, during which the robot (1) can cover part of a range, a whole range or several ranges of a predefined route (4) over the agricultural plot (3) in question.

[0027] However, in more complex situations, as a variant, the operating phase in semi-autonomous mode can include at least two successive cycles, calibrating and / or adjusting the same operating parameters during the second cycle and / or during at least one of the further cycles, each cycle being followed by a verification phase of the tasks performed by the agricultural robot (1).

[0028] In yet another variant, the operating phase in the semi-autonomous mode can include at least two consecutive cycles, in which at least one of the second and / or possible subsequent cycles includes at least one further second operating parameter different from the first cycle, which is calibrated and / or adjusted, each of which is followed by a phase of verifying the tasks performed by the agricultural robot (1).

[0029] Advantageously, the results of the operating parameters used during a work cycle in semi-autonomous mode are used as feedback when determining the operating parameters for the next cycle. This feedback data can be obtained by at least one sensor on the robot (1) and / or the tool (2). Thus, an operator can adjust the selection of operating parameters for the next cycle taking into account the results of the cycle.

[0030] Depending on the type of work being performed, a decision can be made to return to the same area within the agricultural plot or not.

[0031] In a first variant embodiment of the invention, in each successive different cycles of the operating phase in semi-autonomous mode, for example in tillage work (travail du sol), the agricultural robot (1) moves along the same route (4) on the same part of the plot (3≡) as during the first cycle, the robot (1) changing its position autonomously or non-autonomously (at the start of the course).

[0032] A second variant of the invention allows for semi-autonomous operation, for example in sowing operations. In each successive different cycle of the work phase, the agricultural robot (1) moves through successively different parts (3≡) of the agricultural plot, and (at the start of the course of the next part) the robot (1) is positioned autonomously or non-autonomously. at the start of a partial route).

[0033] In order to make use of the experience gained during the operating phase in semi-autonomous mode after work on a given agricultural plot has been completed, for example to utilize it in the following year or to share the fruits of this experience in subsequent agricultural operations, the method of the invention is configured to store an adjustment and / or calibration profile of the given agricultural robot (1) at the end of the operating phase in semi-autonomous mode and, if necessary, after a short validation phase in the autonomous operating mode, to be reused in similar situations and / or to be transmitted to at least one other similar agricultural robot (1≡) which forms part of the same robot fleet as the given agricultural robot (1) and which is intended to work on the same agricultural plot.

[0034] In order to avoid the need for unnecessary intervention from the operator, in particular before the start of the adjustment / calibration phase, the length of the route (4) to be executed by the agricultural robot (1) in the work phase in semi-autonomous mode can be determined, in particular depending on the type of tool (2), the characteristics of the agricultural plot (3) and / or the type of agricultural work to be performed.

[0035] Depending on the parameters considered, at least some of the adjustments or calibrations can of course also be performed by manual intervention. However, as the robotic agricultural machine (1) becomes increasingly motorized and automated, some or even most of the adjustable parameters can be managed and adjusted remotely by the operator. Under these conditions, portable interface means can be provided, capable of communicating with the agricultural robot (1) and thereby adjusting and / or calibrating at least one parameter during an operating phase in the semi-autonomous mode. This interface means can indicate to the operator the operations to be performed, the parameters to be adjusted and / or calibrated and the generation of new operating phases in the semi-autonomous mode. Such interface means (not shown, but for example those carried by the operator in [Figures 1] and [Figures 3A]) can advantageously be in the form of a tablet (7) or a smartphone, making it possible to ensure the implementation of predefined protocols with improved ease of use through preprogrammed sequences and checklists.

[0036] By using said interface means, the operator can continuously follow the adjustment and / or calibration process and in particular receive feedback from the cycle before determining the parameter behavior of the next cycle, in which case the interface means communicates directly or indirectly with sensors present on the agricultural robot (1) and / or the tool (2).

[0037] This feedback may include one or more of several types of information, such as digital values, images or videos, etc. These data may represent different information such as the working depth, the wear level of the working tool, the condition of the ground before and after the passage of the robot (1), the soil expression, the type of robot, the ground surface, the amount of residue, the quality of the work performed by the robot (1) and / or the tool (2), compliance with thresholds or work instructions, etc.

[0038] Said interface means can display information used to support the operator during the adjustment and / or calibration process. These information can indicate to the operator the various actions to be performed before, during and / or after the various operating phases and cycles. Using these information not only ensures that the operator adheres to the predefined adjustment and / or calibration protocols, but also facilitates the use of the system as a whole.

[0039] In order to deal with unexpected events or to adapt to changing conditions, the method of the invention provides that for a given agricultural plot (3) and agricultural robot (1), after an operating phase in autonomous mode, at least one second operating phase in semi-autonomous mode is executed to change and / or calibrate the settings of at least one operating parameter on the basis of the recommendation map associated with the agricultural plot (3) after an involuntary interruption of the autonomous work phase or after a deterioration in the quality of the work performed by the robot (1) is observed, such unexpected events being interruptions due to bad weather (changing field conditions where work has already been partially performed), interruptions due to breakdowns or maintenance work, large heterogeneity of the agricultural plot (where a uniform quality of work must be maintained), etc.

[0040] Typically, the resulting adjustment profile is associated with a specific [parcelle-robot-tool] configuration.

[0041] When the method of the present invention is carried out on an agricultural machine equipped with a robot having at least one tool and at least one additional agricultural hitch attached thereto, the method of the present invention comprises adjusting and / or calibrating at least one operating parameter of the machine attached to said robot (1) and / or at least one tool of said machine during an operating phase in semi-autonomous mode or a subsequent operating phase of the autonomous agricultural robot (1) for adjusting or calibrating at least one operating parameter and / or said tool (2).

[0042] The invention further relates to a method for operating at least one agricultural robot (1) consisting of a mobile and driven agricultural machine or a combination thereof equipped with at least one tool capable of working the agricultural plot (3) autonomously, which method of the invention comprises at least one phase for setting up the agricultural robot (1) under the control of an operator at a start position of a working route on a given agricultural plot (3), at least one phase for adjusting and / or calibrating the robot (1) and, if necessary, also its tool (2), and at least one autonomous working phase.

[0043] A feature of this method of the invention is that the adjustment and / or calibration phase of the robot (1) and / or the tool (2) is carried out in a semi-autonomous mode, which comprises the process described above.

[0044] This feature of the method of the invention allows for working on an agricultural plot (3) using a pre-established recommendation map (carte de prochconisation) for completing a route of the robot on said agricultural plot (1), said recommendation map further comprising the location of at least one possible route section that corresponds to a phase of tuning and / or calibration in a new semi-autonomous mode of said robot (1) during working on the agricultural plot (3) and after an initial tuning.

[0045] Such a second adjustment and / or calibration phase is shown in Figures 3A and 3B and may be recommended or necessary in case of spontaneous or unintentional interruptions, changed site conditions (rain), or changes in soil or plant properties.

[0046] The invention is not limited to the embodiments illustrated in the attached drawings and described above, which may be modified, particularly in terms of the arrangement of the various elements or by the substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

1. 1. A method for adjusting and / or calibrating a mobile and driven agricultural machine or hitch with at least one tool (2) capable of working autonomously on an agricultural plot (3), hereinafter referred to as agricultural robot, characterized in that at the start of a work phase on a new agricultural plot, when resuming an interrupted work phase on an already partially worked agricultural plot, if the characteristics of the agricultural plot have changed significantly during the autonomous work and / or if the quality of the work performed by the agricultural robot (1) during the autonomous work has significantly decreased, at the request of an operator (5) or after verification of the request of the operator (5), the robot (1) is temporarily operated in a semi-autonomous mode, in which at least one operating parameter of the robot (1) and / or the at least one tool (2) is managed and adjusted by the operator (5) or the robot (1) or the tool (2) or a combination of these three after verification by the operator (5) in order to adjust or calibrate the next autonomous work phase.

2. 2. Method according to claim 1, characterized in that the parts (3') of the agricultural plots worked during an operating phase in semi-autonomous mode are not reworked during a subsequent autonomous working phase.

3. 2. The method according to claim 1, characterized in that at least one operating parameter of the agricultural robot (1) and / or the at least one tool (2) managed and adjusted by the operator (5) or the robot (1) or the tool (2) or a combination of these three during the semi-autonomous operating phase is selected from the group consisting of generated power, movement speed, movement direction, shape of the working path on the agricultural plot (3), position and / or orientation and / or configuration and / or operating parameters of the robot configuration (1) and the at least one tool (2).

4. 2. The method of claim 1, characterized in that at least two different operating parameters are managed and regulated simultaneously or managed and regulated independently and separately in at least two consecutive phases to adjust and / or calibrate at least two different operating parameters during a semi-autonomous operating mode.

5. 2. The method according to claim 1, characterized in that the operating phase in semi-autonomous mode comprises at least two successive cycles, with a phase of adjusting and / or calibrating the same operating parameters in the second and / or subsequent cycles and of verifying the tasks performed by the agricultural robot (1) after each cycle.

6. 2. The method according to claim 1, characterized in that the operating phase in semi-autonomous mode comprises at least two successive cycles, in which in the second and / or at least one of the subsequent cycles at least a second operating parameter is calibrated and / or adjusted differently from the first cycle, and each cycle is followed by a verification phase for verifying the tasks performed by the agricultural robot (1).

7. 2. The method according to claim 1, characterized in that, at the end of an operating phase in semi-autonomous mode, an adjustment and / or calibration profile of the given agricultural robot (1) is saved and, if necessary after a short validation phase in autonomous operating mode, is reused in subsequent similar situations and / or transmitted to at least one other similar agricultural robot (1≡) which is intended to carry out work on the same agricultural plot (3) forming part of the same robot fleet as the given agricultural robot (1).

8. 2. The method according to claim 1, characterized in that the length of the route (4) performed by the agricultural robot (1) in a semi-autonomous mode operation phase is determined depending on the type of tool (2), the characteristics of the agricultural plot (3) and / or the type of agricultural work to be performed.

9. 2. The method according to claim 1, further comprising providing a portable interface means capable of communicating with the agricultural robot (1) and allowing the adjustment and / or calibration of at least one parameter during an operating phase in semi-autonomous mode, said interface being capable of indicating to the operator the operations to be performed, the parameters to be adjusted and / or calibrated and the occurrence during a new operating phase in semi-autonomous mode.

10. 2. The method according to claim 1, characterized in that, after an interruption of an autonomous work phase or after observing a decrease in the quality of the work performed by the robot (1), in accordance with a prescription map for a given agricultural plot, after the work phase in autonomous mode, at least one second operating phase in semi-autonomous mode is performed for a given plot (3) and a given agricultural robot (1), in which the setting and / or calibration of at least one operating parameter is changed.

11. 1. A method for carrying out work on an agricultural plot (3) with at least one agricultural robot (1), which is capable of working the agricultural plot (3) autonomously, consisting of a mobile and driven agricultural machine or a combination thereof, equipped with at least one tool (2), comprising at least one phase of positioning said robot (1) under the control of an operator at a start position of a work route on the given agricultural plot (3), at least one phase of setting and / or calibrating the agricultural robot (1) and, if applicable, its tool (2), and at least one autonomous work phase, 2. A method according to claim 1, characterized in that the configuration and / or calibration phases of the agricultural robot (1) and / or the tool (2) are carried out in a semi-autonomous working mode by carrying out the method according to claim 1.

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