Apparatus for controlling at least one mobile agricultural vehicle within an agricultural plot

Abstract

The invention relates to a control device for an agricultural vehicle moving within an agricultural plot comprising a mobile agricultural vehicle and a processing / control unit with at least one memory device containing at least input data for mapping danger zones (3) located within the agricultural plot, characterized in that the memory device contains data representing a set of types of danger zones called categories and data representing a set of specific actions of the mobile agricultural vehicle, the processing / control unit associating the input data for the mapping of the danger zones with at least one category and associating the categories with specific actions of the mobile agricultural vehicle and controlling the specific actions of the agricultural vehicle when the agricultural vehicle is located within or in the vicinity of the danger zone.

Description

[Technical field]

[0001] The present invention relates to an apparatus for controlling at least one mobile agricultural vehicle within an agricultural plot and a method of using the apparatus. [Background technology]

[0002] It is generally known to farmers that in an agricultural parcel there are one or more zones in which a mobile agricultural vehicle or a tool associated with the mobile agricultural vehicle must not move and / or must not operate and / or must not operate differently. In the following description, these zones known to farmers will be called danger zones.

[0003] Currently, the comportement of a mobile agricultural vehicle within a plot is adjusted manually by the driver of the mobile agricultural vehicle. For example, if there is an obstacle within a plot, the driver steers to avoid the obstacle. In other situations, the driver may need to adjust the tool based on the plot they are working on. As a result, the driver of the mobile agricultural vehicle has to focus on the different risks he encounters within the plot and in most cases works slower, which means he cannot work in optimal conditions. There is also a risk that the driver will forget to adjust, which can lead to poor quality work and less than optimal yields.

[0004] Examples of agricultural activities that may be required to be performed within an agricultural plot by an operator of a mobile agricultural vehicle include, but are not limited to, soil working (e.g., plowing, tilling), seeding, weeding, hoeing, spraying, applying liquid or solid fertilizers or plant protection products, harvesting (e.g., harvesting, silage), mowing, planting, aerating, baling, and others.

[0005] Mobile agricultural vehicle operators may encounter hazardous areas within agricultural plots, including, but not limited to, the following: waterways, utility poles, roadsides, houses, wetlands, stony areas, irrigation ditches, etc.

[0006] Mobile agricultural vehicle operators may be required to take certain actions within an agricultural plot, including, by way of non-limiting example: slowing the mobile agricultural vehicle near obstacles, reducing the working depth in zones where the soil is "heavy," ceasing to spread fertilizer along streams, and reducing working speed to reduce the risk of tipping in slope zones.

[0007] These different actions may be specific to the farm operation and the season (or even the day the operation is performed), for example if a tree falls on the property it will need to be taken into account on the day of the operation, but not necessarily the next time around as it may have already been cut down. Applicable legislation may also impose certain actions, for example in Germany it is illegal to spread fertiliser along waterways over a certain width.

[0008] A system and method for assisting a driver of a mobile agricultural vehicle when working on an agricultural plot is known from US 2020113123 A1. Tool depth prescriptions for agricultural vehicles are used here. A drawback of this solution is that it is limited to optimizing the depth of one tool on one agricultural plot.

[0009] A system and method for assisting a driver of a mobile agricultural vehicle when working in an agricultural plot is known from [Patent Document 2] (EP 3518647 B1). This system and method make it possible to determine an optimized path to be followed by the agricultural vehicle while working in the agricultural plot, in particular if obstacles are present in the agricultural plot. A drawback of this solution is that it is limited to optimizing the path of one agricultural vehicle on one agricultural plot. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] US Patent Application Publication No. 2020113123A1 [Patent Document 2] European Patent Publication No. EP3518647B1 Summary of the Invention [Problem to be solved by the invention]

[0011] The object of the present invention is to overcome at least one of the above-mentioned drawbacks when a mobile agricultural vehicle works autonomously on an agricultural plot, and to provide a solution which enables it to take into account different danger zones, adjust its behaviour depending on the environment and optimise its work. [Means for solving the problem]

[0012] The invention relates to a device as claimed in 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 of several preferred embodiments, given by way of non-limiting example with reference to the accompanying schematic drawings, in which: [Brief description of the drawings]

[0015] [Figure 1] FIG. 2 shows a first possibility of an agricultural plot comprising three danger zones along which an agricultural vehicle equipped with a control device according to the invention moves during the autonomous movement phase of the method according to the invention.

[0016] [Diagram 2] FIG. 2 shows a second possibility of an agricultural plot comprising two danger zones along which two agricultural vehicles equipped with a control device according to the invention move during the autonomous movement phase of the method according to the invention.

[0017] [Diagram 3] FIG. 4 shows a third possibility of an agricultural plot comprising two danger zones along which two agricultural vehicles equipped with a control device according to the invention move during the autonomous movement phase of the method according to the invention.

[0018] [Figure 4] FIG. 4 shows a fourth possibility of an agricultural plot comprising three danger zones along which two agricultural vehicles equipped with a control device according to the invention move during the autonomous movement phase of the method according to the invention.

[0019] [Diagram 5] FIG. 3 is a diagram of a screen of the control device of the present invention showing a map of the agricultural plot shown in FIG. 2 and data relating to the first danger zone.

[0020] [Figure 6] FIG. 3 is a diagram of a screen of the control device of the present invention showing a map of the agricultural plot shown in FIG. 2 and data relating to a second danger zone. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] The control device for at least one agricultural vehicle 1 moving in an agricultural plot 2 comprises at least the following (1) and (2): (1) one mobile agricultural vehicle 1 equipped with at least one location determination element, e.g. GPS; (2) a processing / control unit equipped with at least one storage device containing at least input data (cartographic input data) for the mapping of at least one danger zone 3 located within at least one agricultural plot 2;

[0022] The control device of the present invention is characterized in that: The storage device contains at least data representative of a set of types of danger zones 3 called categories, and data representative of a set of specific operations of at least one mobile agricultural vehicle 1 . The processing / control unit is configured to associate the input data for the mapping of the at least one danger zone 3 with at least one category. The processing / control unit is configured to associate at least one of the above categories with at least one particular operation of the at least one mobile agricultural vehicle 1 . The processing / control unit is configured to control the at least one particular operation of the mobile agricultural vehicle 1 when the position of the agricultural vehicle 1 is within or near at least one danger zone 3. The mobile agricultural vehicle 1 is configured to move autonomously within the agricultural plot 2 according to at least one particular operation as described above, which is controlled by the processing / control unit.

[0023] Advantageously, the processing / control unit associates at least one category when the danger zone 3 is delimitee in the agricultural plot 2 using the input data for mapping. The processing / control unit further associates at least one specific action to said at least one category. The processing / control unit can thus adopt at least one specific action in the danger zone 3 and can control said at least one mobile agricultural vehicle 1, for example via at least one control signal. Said at least one specific action is applied automatically and autonomously by said at least one mobile agricultural vehicle 1 depending on its location in the agricultural plot 2. That is to say, by using the control device of the present invention, it is advantageous that at least one mobile agricultural vehicle 1 in the agricultural plot 2 can operate fully autonomously without human intervention and effectively adjust its operation depending on the environment, i.e. optimize its operation in the agricultural plot 2, taking into account the danger zone 3 located in the agricultural plot 2. Furthermore, different specific actions are automatically applied to the at least one mobile agricultural vehicle 1 depending on its location in the agricultural plot 2. This configuration of the invention allows for an improved accuracy of the guidance of the at least one mobile agricultural vehicle 1 within an agricultural plot 2 including one or more danger zones 3. It allows for an easy implementation and for automating the actions required for the operation of the at least one mobile agricultural vehicle 1 within the agricultural plot 2, e.g. optimizing the protection and operation (spraying amount, depth, etc.) of said at least one mobile agricultural vehicle 1 and for compliance with current regulations.

[0024] Example 1 If the category classification of the danger zone 3 is a residential border (abord) and the agricultural work performed by the mobile agricultural vehicle 1 is a plant protection treatment (traitement phytosanitaire), the processing / control unit of the control device of the present invention automatically controls the mobile agricultural vehicle 1 to prescribe the blocking of the distribution of plant products in the danger zone 3 as a specific action.

[0025] Example 2 If the category classification of the danger zone 3 is associated as a body of water (lake, pond, etc.) and the danger zone 3 is identified as a category corresponding to an obstacle that the mobile agricultural vehicle 1 cannot overcome, the processing / control unit of the control device of the present invention automatically controls the mobile agricultural vehicle 1 to perform certain actions including not working in the defined danger zone 3, regardless of the type of agricultural work being performed.

[0026] Example 3 If a category of danger zone 3 is associated with an irrigation canal and the danger zone 3 is identified as corresponding to an obstacle that the mobile agricultural vehicle 1 can overcome, the processing / control unit of the control device of the present invention automatically controls the mobile agricultural vehicle 1 to perform a specific action of not working in the defined danger zone 3, regardless of the type of agricultural work being performed.

[0027] The processing / control unit of the present invention preferably commands the mobile agricultural vehicle 1 to perform at least one specific action when the mobile agricultural vehicle 1 is located strictly within the at least one danger zone 3 and the mobile agricultural vehicle is configured to operate autonomously within the at least one danger zone 3 in accordance with the at least one specific action commanded by the processing / control unit.

[0028] For example, if the category of the danger zone 3 is sloping, the mobile agricultural vehicle 1 will only take a specific action when it actually enters within the closed contour of the sloping danger zone 3 .

[0029] In an alternative and preferred method, the processing / control unit of the present invention is configured for the mobile agricultural vehicle 1 to take at least one specific action when the position of the agricultural vehicle 1 is in the vicinity of at least one danger zone 3 and the mobile agricultural vehicle is configured to operate autonomously in the vicinity of the at least one danger zone 3 in accordance with the at least one specific action commanded by the processing / control unit of the present invention.

[0030] It is advantageous to have the mobile agricultural vehicle 1 take a specific action when approaching or near a danger zone 3. The distance defining the proximity of the danger zone 3 for this purpose can be set automatically by the robot or by the user according to a category and / or a selected / imposed action.

[0031] In an alternative and preferred method, the at least one memory device includes at least input data for mapping at least one extended zone 30 around the at least one danger zone 3, and the processing / control unit is configured to cause the mobile agricultural vehicle 1 to take at least one specific action when the position of the agricultural vehicle 1 is located within the at least one extended zone 30 around the at least one danger zone 3 and the mobile agricultural vehicle 1 is configured to operate autonomously according to at least one specific action within the at least one extended zone 30 around the danger zone 3.

[0032] In addition to the data for mapping that define the actual contour or a particular closed contour of the danger zone 3, an extension zone 30 of the danger zone 3 can also be defined. This extension zone 30 is bounded by an extended closed contour that is larger than the actual danger zone 3. The contour of the actual danger zone 3 is inside the extended closed contour. This extension zone 30 is particularly advantageous when a particular category is selected, for example an insurmountable obstacle. For example, in FIG. 1 the extension zone 30 corresponds substantially to the oblique line zone around the obstacle, in the illustrated example a pond. In this extension zone 30 the mobile agricultural vehicle 1 at least takes a particular controlled behavior, i.e. in the case of an insurmountable obstacle the agricultural vehicle 1 slows down as it approaches the obstacle and does not brake suddenly in front of it. This extension zone 30 can be automatically defined based on the contour examined by the robot or by the user, in other words on the geometric shape of the extension zone 30 and its dimensions.

[0033] The processing / control unit of the present invention is preferably connected to a man-machine interface described below, and the processing / control unit is preferably configured to display on the man-machine interface input data for mapping the at least one extended zone 30. The data for mapping the at least one extended zone 30 can be input in the form of list-type parameters 31 displayed on a monitor (screen), for example, as shown in Figures 5 and 6.

[0034] In practice, the processing / control unit of the present invention is preferably configured to transmit at least one control signal representative of a particular action to the mobile agricultural vehicle 1 in order for the mobile agricultural vehicle 1 to perform at least one particular action when the position of the agricultural vehicle 1 is inside or close to said at least one danger zone 3. In this case, the mobile agricultural vehicle 1 is configured to process the control signal representative of the particular action and to take a particular action within the agricultural plot 2 or within the danger zone 3. The transmission and reception of the control signals between the processing / control unit and the mobile agricultural vehicle 1 is preferably performed remotely, for example by wireless communication means of radio frequency type. This configuration is preferred when the processing / control unit and the mobile agricultural vehicle 1 are two separate entities remote from each other.

[0035] A mobile agricultural vehicle 1 is defined as an agricultural vehicle 4 or an agricultural vehicle 4 combined with at least one agricultural implement 5 or an agricultural vehicle 4 incorporating at least one agricultural implement 5. The mobile agricultural vehicle 1 can be autonomous, in other words it can not require the intervention of a driver to move around the agricultural plot 2 and / or to carry out tasks within the agricultural plot 2, which can also be an agricultural robot. The at least one mobile agricultural vehicle 1 can also be constituted for example by a fleet of mobile agricultural vehicles 1.

[0036] An agricultural parcel 2 is defined as an agricultural parcel preferably delimited by a closed contour, as shown in Figures 1 to 4.

[0037] The processing / control unit of the present invention is defined as a programmable information processing system. This processing / control unit may be remote and may consist, for example, of a computer, a tablet or a smartphone. Alternatively, the processing / control unit may form part of the mobile agricultural vehicle 1. This processing / control unit is programmable and may include at least one software. This processing / control unit is capable of sending at least one control signal to at least one agricultural vehicle 1 and performing a control function. This processing / control unit is also capable of at least correlating the different types of data mentioned above and performing a data processing function. Furthermore, the processing / control unit may comprise a control subsystem performing the control function and a separate processing subsystem performing the processing function. The processing / control unit of the present invention may comprise a single processing and control system performing both the processing function and the control function.

[0038] A risk zone 3 is defined as a closed contour within an agricultural plot 2, as shown in Figures 1 to 4.

[0039] In the first possibility of danger zones 3 shown in Figure 1, an agricultural plot 2 contains three danger zones 3, namely a danger zone 3 of the "pond" type, a danger zone 3 of the "electric pole" type and a danger zone 3 of the "residential boundary, abord d'habitations" type.

[0040] In a second possibility for danger zones 3, shown in FIG. 2, an agricultural plot 2 comprises two danger zones 3, namely a danger zone 3 of the "forest" type and a danger zone 3 of the "along the road" type.

[0041] In a third possibility for danger zones 3, shown in FIG. 3, the agricultural plot 2 comprises two danger zones 3, namely a danger zone 3 of the "pond" type and a danger zone 3 of the "forest edge" type.

[0042] In a fourth possibility of danger zones 3 shown in [Figure 4], the agricultural plot 2 includes three danger zones 3, namely a danger zone 3 of the "electric pole" type, a danger zone 3 of the "along the road" type, and a danger zone 3 of the "residential boundary" type.

[0043] The input data for the mapping of the at least one danger zone 3 can consist of geographic or GPS coordinates. The input data for the mapping can be obtained during a survey of the agricultural plot 2 or can be collected manually and transmitted to the processing / control unit. Alternatively, the input data for the mapping can be entered and delimited by a user on a map of the agricultural plot 2 displayed by a man-machine interface, such as a screen, included in the control device according to the invention. In this case, the user defines at least one closed contour on the map of the agricultural plot 2 displayed on the screen. For example, the danger zone 3 can be entered manually by an operator by inputting points or by drawing a polygon by hand. Ideally, the input data for the mapping of the at least one danger zone 3 is entered into the processing / control unit of the invention before the mobile agricultural vehicle 1 starts operating in the agricultural plot 2. If it is desired to add or modify data representing a set of types, and to move over a portion of the danger zone 3 during autonomous agricultural operation, the entire agricultural operation is preferably stopped for the at least one mobile agricultural vehicle 1. An alternative solution to completely stopping agricultural operations would be to allow a user to add or modify data representing a set of types of danger zones 3 during autonomous agricultural operations, and to prevent the agricultural vehicle 1 from reaching the modified danger zones 3. This solution allows for "on the fly" adjustment of the danger zones 3, while at the same time reducing the risk of conflicts or inconsistencies caused by modifying the danger zones 3 just before, during or after operations by the agricultural vehicle 1.

[0044] The data representing the set of types of danger zones 3, called categories, is defined as information about the typology or nature of danger zones 3. This data can be in the form of a database or library, for example. The data representing the set of categories includes, by way of example, a non-exhaustive list of the following: roadside, house boundary, forest edge, surmountable obstacle, insurmountable obstacle, stony ground, clay ground, sloping ground, etc. An example of an insurmountable obstacle is a body of water or a fallen tree in the agricultural plot 2. An example of a surmountable obstacle corresponds to an irrigation canal. The data representing the set of types of danger zones 3, called categories, is ideally entered into the storage device of the processing / control unit before the mobile agricultural vehicle 1 starts operating on the agricultural plot 2. If it is desired to add or change data during the operation of the autonomous agricultural vehicle, at least all agricultural operations of the mobile agricultural vehicle 1 are stopped. The danger zones 3 can be characterized by one or more categories, for example combining slopes and roadside strips.

[0045] The data representative of a sequence of specific actions of the at least one mobile agricultural vehicle 1 and information regarding whether or not to perform an agricultural operation and / or information regarding the path or speed of movement of the mobile agricultural vehicle 1 may be in the form of a database or library. Examples of data representative of a sequence of specific actions include the following non-exhaustive list: slow down near obstacles; reduce working depth in zones where the soil is "heavy"; cut off fertilizer spreading along rivers; reduce working speed on slopes etc. The specific actions may relate only to the agricultural vehicle or only to the agricultural implement associated therewith. Actions of both sets of agricultural vehicles and implements may also be combined. The data representative of a sequence of specific actions is ideally entered into the storage device of the processing / control unit before the mobile agricultural vehicle 1 starts operating within the agricultural plot 2. If data representative of a specific action is to be changed or added during the autonomous agricultural operation, the entire agricultural operation of the mobile agricultural vehicle 1 is preferably stopped.

[0046] The processing / control unit is preferably configured to select from a set of possible predefined categories for the at least one danger zone 3 or a set of additional categories not included in the set of possible predefined categories for the at least one danger zone 3 based on a selection command received from a user or an automata consisting of selecting at least one category, and to associate the input data for the mapping of the at least one danger zone 3 with the at least one category.

[0047] Advantageously, the user or robot selects at least one category selected from a set of possible predefined categories for the at least one danger zone 3 or, alternatively, from a set of additional categories not included in said set. The user or robot can make use of another predefined or additional library if he or she wants to select a particular category in addition to the categories already provided as selection categories. The processing / control unit can be configured to associate the input data for the mapping of the at least one danger zone 3 with at least one category in addition to the categories already selected by the user or robot. In this case, it proposes the set of possible predefined or additional categories to the user or robot and decides whether to validate them during classification.

[0048] The processing / control unit is preferably connected to a man-machine interface, the processing / control unit being preferably configured to display on the man-machine interface a set of possible predefined categories for the at least one danger zone.

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

[0050] In this case, the set of possible predefined categories or the set of additional categories is proposed to the user or the robot via the man-machine interface. As shown in [Figure 5] and [Figure 6], a list 6 representing the set of possible predefined categories or the set of additional categories for each of the two danger zones 3 can be displayed, for example, on a screen. The user or the robot can select at least one category from the list 6 displayed on the screen. To do this, the user or the robot selects a category and checks the box 7 related to the selected category. The checkbox 7 related to the selected category can be displayed on the screen as shown in [Figure 5] and [Figure 6]. In the example of [Figure 5] and [Figure 6], the list 6 representing the set of possible predefined categories includes a set of five categories A, B, C, D, E. When the user or the robot selects one category from the list 6 for the first danger zone 3, it is displayed on the screen. In the example of [Figure 5], the checkbox 7 in front of category B is checked. In the example of the user, the user or the robot selects two categories from the list 6 for the user zone 3, which are displayed in the two checkboxes 7 in front of the user, D on the screen.

[0051] Preferably, the man-machine interface is adapted to transmit at least one category selected by the user to the processing / control unit.

[0052] Advantageously, by such an arrangement, at least one category selected by the user or the robot can be transmitted to the processing / control unit.

[0053] Preferably, the processing control unit is configured to associate the at least one selected category with at least one specific action of the at least one mobile agricultural vehicle 1 based on an instruction received from the user or robot in which the user or robot selects one specific action from a set of possible specific actions for the at least one selected category or a set of additional specific actions not included in the set of possible specific actions for the at least one selected category.

[0054] Advantageously, the user or robot can select at least one specific action selected from a set of possible specific actions for at least one selected category or a set of possible additional specific actions for at least one selected category not included in this set. By doing so, the user or robot can use as the specific action to be selected either a predefined library or an additional library if he wants to select other actions in addition to the specific actions already provided. The processing / control unit is configured to associate the at least one selected category with the at least one selected specific action according to a selection operation performed by the user or robot. In this case, said set of possible specific actions or a set of additional specific actions is proposed to the user or robot and the user or robot decides.

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

[0056] As already mentioned, the human-machine interface is preferably capable of displaying, for example, on a screen, a list representing a set of possible specific actions or a set of additional specific actions for at least one selected category. The user or the robot can select at least one selected specific action from this list. After the at least one selected specific action has been entered, parameters for each selected specific action can be displayed, for example, in the form of a list 8 on the screen. In the example of [Figure 5], the list 8 of parameters for one selected specific action associated with category B includes as "actions": a first parameter called "parameter 1" related to the speed of the agricultural vehicle 1, a second parameter called "parameter 2" related to the working depth, and a third parameter called "parameter 3" related to the operation of a distribution system of the agricultural vehicle 1 for distributing agricultural products such as seeds, fertilizers or plant protection products. In the example of [Figure 6], the list of parameters 8 for the specific action associated with the first selected category C includes as "action C": a first parameter called "parameter 1" relating to the speed of the agricultural vehicle 1, a second parameter called "parameter 2" relating to the working depth, and a third parameter called "parameter 3" relating to the operation of a distribution system of the agricultural vehicle 1 for distributing agricultural products such as seeds, fertilizers or plant protection products. In the example of [Figure 6], the list of parameters 8 for the second selected specific action associated with category D includes as "action D": a first parameter called "parameter 1" relating to the speed of the agricultural vehicle 1, a second parameter called "parameter 2" relating to the working depth, and a third parameter called "parameter 3" relating to the operation of a system of the agricultural vehicle 1 for distributing agricultural products such as seeds, fertilizers or plant protection products.

[0057] The man-machine interface is preferably adapted to transmit at least one specific action selected by the user to the processing / control unit.

[0058] Advantageously, this man-machine interface is capable of transmitting at least one specific action selected by a user or by the robot to the processing / control unit.

[0059] The processing / control unit is preferably configured to store in at least one storage device at least one selected specific action associated with the input data for the mapping.

[0060] Advantageously, the storage device is adapted to later perform the same specific action again if the same mobile agricultural vehicle 1 encounters the same danger zone 3 again on the same agricultural plot 2. The storage may be temporary or permanent. That is, if the danger zone 3 is associated with a temporary event, such as a temporary weather-related obstacle (a fallen tree and / or a wetland in the agricultural plot 2), the storage of the selected specific action is temporary, since the temporary obstacle will most likely not be present in the agricultural plot 2 the next time. However, if the danger zone 3 is associated with a permanent event, such as a permanent danger, such as a slope in the agricultural plot 2, the danger will still be present in the agricultural plot 2 the next time, and the selected specific action is stored permanently.

[0061] Alternatively, the processing / control unit is configured to associate at least one selected category with at least one specific action of the at least one mobile agricultural vehicle 1 according to an automated instruction imposing at least one specific action imposed from a set of possible specific actions for the at least one selected category.

[0062] In this case, it is not the user or the robot that selects the at least one specific action. In this case, it is advantageous for the processing / control unit to be configured to associate the at least one selected category with at least one specific action imposed, without the intervention of the user or the robot. The imposed specific action in this case can correspond to a specific action imposed by current laws, such as environmental regulations, that must be complied with. For example, in some countries it is prohibited by law to spread fertilizer along waterways that are larger than a certain width. Another example includes limiting the dosage of agricultural products (such as fertilizer or pesticide products) to comply with a certain law. In this case, the imposed action limits the maximum amount of input that is distributed according to the law. The processing / control unit can include a database that integrates various laws, for example specific to a particular geographical area. If necessary, the GPS location can be associated with this database to apply the imposed action.

[0063] The processing / control unit is preferably connected to at least one man-machine interface with a screen, the processing / control unit being configured to display on its screen at least one map 9 of the agricultural plot 2 including at least one actual closed contour 10 of the danger zone 3 and / or one extended closed contour of the extended zone 30, and at least one selected category.

[0064] This configuration advantageously allows the user or the robot to see on the screen at least one map of the plot of the agricultural plot 2 including the closed contours of the danger zones 3 and at least one selected category. As shown in Figures 5 and 6, the map 9 of the agricultural plot displayed on the screen shows two danger zones 3 separated by closed contours 10.

[0065] The invention further relates to a method for controlling at least one agricultural vehicle 1 moving in an agricultural plot 2.

[0066] The control method of the present invention is carried out by the above-mentioned device of the present invention and includes at least the following steps (1) to (5): (1) Danger Zone 3, memory stage for categories and specific actions: At this stage, input data for mapping at least one danger zone 3 located within at least one agricultural plot 2, data representing a set of types of danger zones 3, called categories, and data representing a series of specific operations of at least one mobile agricultural vehicle 1 are stored in at least one memory device included in a processing / control unit of the control device. (2) First step of data association: At this stage, the input data for the mapping of at least one danger zone 3 are associated by the processing / control unit with at least one category. (3) Second stage of data association: At this stage, at least one category is associated by the processing / control unit with at least one particular operation of at least one mobile agricultural vehicle 1 . (4) Control stage of agricultural vehicle 1: At this stage, the processing / control unit controls certain of the above-mentioned operations of the mobile agricultural vehicle 1 when the position of the agricultural vehicle 1 is within or near at least one danger zone 3 . (5) Autonomous movement phase of the agricultural vehicle 1 within the agricultural plot 2: At this stage, the mobile agricultural vehicle 1 moves autonomously within the agricultural plot 2 according to at least one specific action commanded by the processing / control unit.

[0067] During the first data association phase, the processing / control unit preferably selects from a set of possible predefined categories for the at least one danger zone 3 or a set of additional specific actions not included in said set of possible specific actions for the at least one selected category and associates the input data for the mapping of the at least one danger zone 3 to the at least one category based on a selection command received from a user or from the robot.

[0068] During the second data association phase, the processing / control unit preferably selects at least one specific action selected from the set of possible specific actions for the at least one selected category or a set of additional specific actions not included in the set of possible specific actions for the at least one selected category, and associates the at least one selected category with the at least one specific action of the at least one mobile agricultural vehicle 1 based on instructions received from the user or the robot.

[0069] In a variant, during the second data association stage, the processing / control unit associates the at least one selected category with at least one specific action of the at least one mobile agricultural vehicle 1 based on an automation instruction consisting of imposing a selection from a set of possible specific actions imposed for the at least one selected category.

[0070] It is clear that the invention is not limited to the embodiments illustrated in the attached drawings, in particular that the arrangement of the various elements can be modified or substituted with technical equivalents without departing from the scope of protection of the invention.

Claims

1. At least one mobile agricultural vehicle (1) having at least one location element; a processing / control unit with at least one storage device containing at least input data for the mapping of at least one danger zone (3) located within at least one agricultural plot (2); A control device for at least one agricultural vehicle (1) moving in at least one agricultural plot (2), comprising: said storage device having data representing a set of at least types of danger zones (3), called categories, and data representing a set of specific actions of at least one mobile agricultural vehicle (1); said processing / control unit being adapted to associate input data for mapping at least one danger zone (3) with at least one category; the processing / control unit is configured to associate the at least one category with at least one particular operation of the at least one mobile agricultural vehicle (1); the processing / control unit is configured to control at least one specific operation of the mobile agricultural vehicle (1) when the position of the agricultural vehicle (1) is within or near at least one danger zone (3); the mobile agricultural vehicle (1) is configured to move autonomously within the agricultural plot (2) according to at least one specific operation commanded by the processing / control unit; A control device characterized by:

2. at least one storage device contains at least input data for the mapping of at least one extension zone (30) around at least one danger zone (3); the processing / control unit is configured to command the mobile agricultural vehicle (1) to perform at least one specific action when the position of the agricultural vehicle (1) is within at least one of the perimeters of the at least one expansion zone (30); the mobile agricultural vehicle (1) is configured to move autonomously within at least one expansion zone (30) according to at least one specific operation commanded by said processing / control unit; 2. The control device according to claim 1.

3. 3. The control device according to claim 1, wherein the processing / control unit is configured to select at least one selectable category from a set of possible categories for the at least one predefined danger zone (3) based on a selection command received from a user or a robot, or a set of additional categories not included in the possible set, and to associate input data for mapping the at least one danger zone (3) with the at least one category.

4. 4. The control device according to claim 3, characterized in that the processing / control unit is connected to a man-machine interface, the processing / control unit being configured to display at least a possible set of predefined categories for at least one danger zone (3) on the man-machine interface.

5. 5. The control device of claim 4, wherein said human-machine interface is adapted to transmit at least one category selected by a user to said processing / control unit.

6. 4. The control device according to claim 3, characterized in that said processing / control unit is configured to associate at least one selected category with at least one specific action of the at least one mobile agricultural vehicle (1) based on commands received by a user or a robot, by selecting at least one specific action selected from a set of possible specific actions of the at least one selected category or a set of additional specific actions not included in the set of possible specific actions for the at least one selected category.

7. 7. The control device according to claim 6, wherein the processing / control unit is connected to a human-machine interface, the processing / control unit being configured to display on the human-machine interface at least the possible set of specific actions that can be associated with at least one selected category.

8. 8. The control device according to claim 7, wherein the human-machine interface is adapted to transmit at least one specific action selected by a user to a processing / control unit.

9. 4. The control device of claim 3, wherein the processing / control unit is configured to store in at least one storage device the selected at least one specific action associated with the input data for the mapping.

10. 4. The control device of claim 3, wherein said processing / control unit is configured to associate said at least one selected category with at least one particular action.

11. 4. The control device according to claim 3, characterized in that the processing / control unit comprises at least one man-machine interface with a screen, the processing / control unit being configured to display on the screen a map (9) of the agricultural plot (2) including at least one actual closed contour (10) of the danger zone (3) and / or one extended closed contour of the extension area (30), and at least one selected category.

12. A method for controlling at least one mobile agricultural vehicle (1) within an agricultural plot (2), comprising:

10. A method executed by the control device of claim 1, further comprising at least the following steps: - a step of storing the input data for mapping at least one danger zone (3) located in at least one agricultural plot (2), data on a series of types of danger zones (3), called categories, and data representing a series of specific actions of at least one mobile agricultural vehicle (1), in at least one storage device included in the processing / control unit; a first data association phase in which the input data for mapping at least one danger zone (3) in at least one agricultural plot (2) is associated by the processing / control unit with a sequence of specific movements of at least one mobile agricultural vehicle (1); a second data association phase, in which the processing / control unit commands at least one specific action to the at least one mobile agricultural vehicle (1) if the at least one agricultural vehicle (1) is in or near the danger zone (3); - autonomous movement of the agricultural vehicle (1) within the agricultural plot (2) according to at least one specific action commanded by the processing / control unit.

13. 13. The method according to claim 12, characterized in that during the first data association phase, the processing / control unit associates the input data for mapping of at least one danger zone (3) with at least one category based on the received selection command.

14. 14. The method according to claim 13, characterized in that during the second data association phase, the processing / control unit selects at least one specific action selected from a set of possible specific actions for the selected category or a set of additional specific actions not included in this set, and associates the selected at least one category with at least one specific action of the agricultural vehicle (1) according to commands received by a user or a robot.

15. 15. The method of claim 13 or 14, wherein during the second data associating step, based on the automated command, the processing / control unit associates at least one specific action of the at least one mobile agricultural machine with at least one selected category, whereby the processing / control unit imposes at least one specific action imposed from a set of possible specific actions on the at least one selected category.

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