Method and device for cultivating an agricultural plot using at least one fuelled agricultural robot

Abstract

The subject of the present invention is a method for cultivating an agricultural plot (P) by at least one autonomously and independently operating agricultural robot (R1, R2, ..., Ri), comprising defining, during or after the evaluation and planning phase, at least one priority pond area part (PFP??) dedicated to the supply of inputs, within which at least one supply station (SR) for at least one input is located, which supply station (SR) can be moved or relocated within the priority pond area part (PFP??), and each robot (R1, R2, ..., Ri) is directed towards the priority pond area part (PFP??) when it receives or self-generates a supply command.

Description

[Technical field]

[0001] The present invention relates to the field of agricultural machinery, and more particularly to the soil work and / or plant cultivation on an agricultural plot by at least one highly automated and autonomous agricultural machine, commonly called robotic agricultural vehicle or agricultural robot, preferably a flotte including at least two such vehicles or machines. In this sense, the subject of the invention is a method for cultivating land by at least one agricultural robot with improved feeding of inputs (materials, etc.), and an agricultural installation implementing this method. [Background technology]

[0002] One agricultural plot P is usually divided into a "main field" CP (corresponding to the effectively usable area SU that can be optimally used) and an area (a forage ochre area, an enclosing area, a storage place, hereinafter referred to as the "pond area") ZF that surrounds all or part of the periphery adjacent to this main field CP (see [Figure 1A]. In [Figure 1], the entire outer periphery of the main field CP is the pond area). This pond area ZF can continuously surround SU or CP and can spread to all sides of the main field as shown in [Figure 1A]. Also, it may be fragmented and spread along only some sides of the main field (see [Figure 1B]) or spread continuously (see [Figure 1C]). Traditionally, the pond area is present on at least one side of the main field, preferably on a plurality of sides, and desirably on at least each of the rows (rangs) or working paths (trajets) of the agricultural plot. This pond area is mainly an area used by agricultural machinery when an agricultural vehicle or robot moves from one working row (rang) of the main field to another working row (rang) (for example, during a U-turn). However, the pond area ZF may also be within the main field CP, especially when it is around a zone where work cannot be done due to obstacles (such as rocks, towers, etc.).

[0003] An agricultural plot can of course be worked by one vehicle or robot, but is usually worked by a platoon of at least two robots of the same or different type. One known way of solving the problem in this case is to divide the agricultural plot to be worked, or more precisely the main field, into work zones of fixed width corresponding to the working width of the agricultural robot used, or into multiples (preferably integer multiples) of this working width (so that each zone is worked, for example, in one or several passes), and to each zone different robots are assigned / reassigned (affectees / r·affectees) in real time according to the progress of the work on the agricultural plot and the changing situation during the working time. The said work zones are made up of several parts of the main field, and for a certain work phase or land allocation, one robot of the robot group to be worked can be assigned exclusively, or several robots can be assigned to perform the same or similar or different work simultaneously or successively or to perform complementary tasks.

[0004] When working on an agricultural plot, the vehicles, robots and their associated tools consume different inputs (intrants, materials, fuels, etc., hereafter referred to as inputs), depending on their type and the nature and characteristics of the agricultural work carried out on the plot, such as fuel / electrical energy, seeds, fertilizers, plant protection products, etc. One replenishment station per agricultural plot is usually sufficient. However, for plots with very large dimensions, a very large number of robots and / or different inputs, at least two different refueling stations (stations de ravitaillement) can be provided.

[0005] As the agricultural work progresses, these vehicles or robots need to be replenished with inputs, which is done manually or automatically via at least one reloading station, which is advantageously mobile and can be moved manually by an operator or autonomously by a vehicle (or even without assistance if it is driven or guided).

[0006] The more vehicles and robots working on an agricultural plot and the larger the plot, the more frequent the reloading (recharges) must be performed. If the reloading location is not optimized, the reloading station will have to be moved (frequently) from one side of the plot to the other. This is not satisfactory in terms of fuel consumption and time loss, since it requires moving the station or moving the robot (which does not work during the move). Also, if the station remains in a fixed location, the robot must travel to that location to load, sometimes over a long distance (the distance of a round trip that does not work).

[0007] The method of reloading vehicles at stations disclosed in [Patent Document 1] (EP 2855102) is automatic when the amount of raw material (input) falls below a threshold value. The location of the stations within the agricultural plot is optimized according to the task, the stations are set up manually and remain in place. The user's selection of the station locations can be assisted by a supervisor. However, this solution lacks flexibility and adaptability and is based only on the initial selection of stations at fixed locations.

[0008] In a method of supplying an agricultural machine disclosed in [Patent Document 2] (International Publication No. WO2014 / 137813), potential supply points are predefined in at least two opposite pound areas of an agricultural plot, preferably in two opposite pound areas where a U-turn is made.

[0009] The aim of the solution is to optimise the movement between the vehicle and the refuelling station, with cost estimation / optimisation functions and real-time assessment of the vehicle's energy consumption and reserves. However, this known solution is complex to implement, does not optimize the movement of each station that can move to multiple sides of the field, and does not seek a satisfactory compromise between station movement and vehicle movement. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] European Patent Publication No. EP2855102 [Patent Document 2] International Publication No. WO2014 / 137813 Brochure Summary of the Invention [Problem to be solved by the invention]

[0011] The aim of the present invention is to at least compensate for the main limitations of the known solutions. [Means for solving the problem]

[0012] To this end, the subject of the invention is a method for cultivating an agricultural plot by means of at least one autonomous and independent agricultural machine or robot, said agricultural plot comprising at least one access point or entrance surrounding or not surrounding the main field, each of which is formed by one or more parts of a main field adjacent to or separated from one another and each of which is associated with one side of the main field or with one zone of the main field to be cultivated next, or at least one pond area, before and / or during the progress of the work in the main field and possibly in said pond area, the main field is subdivided and preferably strip-shaped elementary work zones are created. a method for dividing a field into basic work zones (basic work zones) bordered at least at one end by a pond area, each basic work zone being assigned to each robot so that the robot works in one or more passes, preferably along a longitudinal direction, and for programming, after a prior evaluation and planning of the work to be performed on a given agricultural plot, and before starting the work, the or each robot with a command and / or control sequence and a planned or unplanned supply sequence of at least one input for the or at least one robot that may occur during the work on the given agricultural plot, The method includes, during or after the evaluation and planning stage, defining at least one portion of the pound area dedicated to the supply of raw materials, in which at least one supply station is located, the supply station having the ability to be moved or relocated within the portion, and each robot being directed to the portion when it receives or self-generates a supply instruction.

[0013] The invention will be better understood from the following description of preferred embodiments with reference to the accompanying schematic drawings, in which: FIG. [Brief description of the drawings]

[0014] [Figure 1A] and,

[0015] [Figure 1B] and,

[0016] [Figure 1C] Illustrates agricultural plots with pond area zones in different configurations (enclosed, fragmented, or contiguous configurations).

[0017] [Diagram 2] FIG. 2 is a diagram showing the definition of a priority pond area portion and a cultivation method for an agricultural plot in a first embodiment of the present invention.

[0018] [Diagram 3] 1 is a diagram of several alternative options for the priority pond area portion of the present invention, each with different access points or entrances located on one and the same diagram.

[0019] [Figure 4A] and,

[0020] [Figure 4B] A diagram showing two successive work stages on an agricultural plot having three main field portions and three separate priority pond area portions, with the supply station moving as the work progresses.

[0021] [Figure 5A] and,

[0022] [Figure 5B] and,

[0023] [Figure 5C] A diagram showing three successive stages of work on an agricultural plot having three main field portions and a common priority pond area portion, with the supply station moving as the work progresses. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] In Fig. 2 to Fig. 5 several possible variants of a method for cultivating an agricultural plot (P) by at least one autonomously and independently operating agricultural machine or robot (R1, R2, ..., Ri) are shown. The agricultural plot (P) is made up of at least one access point or entrance (PA) and at least one pond area (ZF) that may or may not surround a main field (CP). This pond area is formed by one or more pond area parts (partie de fourriere) (PF) associated to one side of the main field (CP) or to its uncultivated zone and adjacent to each other or distant from each other.

[0025] The method of the invention comprises, prior to and / or during the operation of the main field (CP) and possibly the pond area part (ZF), subdividing the main field (CP) into strip-like basic work zones (ZT1, ZT2, ..., ZTj), which preferably border at least one end on the pond area part (PF) and each basic work zone is assigned to a robot (R1, R2, ..., Ri) working in one or more passes, preferably along its longitudinal direction. The method of the invention further comprises, after a prior evaluation and planning of the operations to be performed on the considered agricultural plot (P), programming consignes and / or control sequences for each robot (R1, R2, ..., Ri) before the start of the operations. Furthermore, at least one material supply sequence for at least one robot (R1, R2, ..., Ri) that may occur during the operation of the considered agricultural plot (P) as a whole can be executed, whether it is pre-planned or not.

[0026] To carry out the method of the invention, all information about the agricultural plot (P) (size, shape, surface area of ​​each work zone and each main field part that composes it, the predictable work path of the robot, shape, location and extension of the pond area, etc.) is known to a system that executes the work planning and management software of the agricultural plot (P), for example a central common management and control system (SC) designed to evaluate and plan the work to be performed on a given agricultural plot (P) and to communicate with the robots (R1, Ri, ...) to give them instructions and / or control. Similarly, for each robot and / or tool, the fuel consumption, the amount of fuel / electricity in the tank / battery, the material consumption (function of the seed / fertilizer ratio), the preset ratio (material mass / area to be worked) and the predicted travel distance are also known. It is understood that each robot is also equipped with sensors that can continuously measure some of the parameters such as the travel speed, the real-time remaining material level, the instantaneous energy consumption, etc.

[0027] The method further defines, during or after the evaluation and planning stage, at least one specific priority pond area portion for replenishing the inputs, in which at least one supply station (SR) for at least one input is located, which supply station (SR) can be moved or relocated within this portion (PFP) and directs each robot (R1, R2, ..., Ri) to said portion (PFP) when it receives or self-generates a supply command.

[0028] The method of the invention can be implemented with a single agricultural robot, but it is preferably applied to a platoon of at least two (see Figures 4 and 5), and more preferably at least three robots (R1, R2, ..., Ri) (see Figures 1B, 1C and 2).

[0029] The method of the invention does not define exact supply points, but rather defines a common zone (zone commune) where the supply of all the robots is performed centrally. There may be several supply points, but they are all located within the defined zone, preferably on the same side of the agricultural plot, to reduce both the number of reloading station trips and the number of vehicle trips to the stations. The exact supply points are defined by a central management and control system (supervisor SC) when a supply is required during the autonomous operation of a particular robot.

[0030] Using the method of the present invention, one can reduce robot movement to the station while minimizing trips to the station, without seeking to maximize robot movement reduction, as this would result in longer station trips, which is undesirable.

[0031] When generating a mission for the agricultural robot, the user, in conjunction with the central management and control system (SC), can select a portion of the pond area and define it as a priority supply zone (zone de ravitaillement privil·gi·e), called a priority pond area portion (une portion de fourriere privilegiee) (PFP).

[0032] Those skilled in the art will understand that the present invention uses a supply schedule for agricultural robots that avoids empty trips. For example, if inputs (seeds, fertilizers, etc.) are the limiting factor, the robot will not start a new trip to the main field (CP) if there is not enough input left in the hopper. Since the system and / or each robot knows through the missions how much input it needs for a trip and also how much input is available in the hopper, it can determine whether it can fully perform the next trip and whether it needs to get supplies in advance when the vehicle is in or near the priority pond area part (PFP).

[0033] By using the method of the present invention, the supply of agricultural robots can be improved in two ways: i) by reducing the distance between the robot and the supply station; and ii) by minimizing the distance involved in moving the supply station.

[0034] In the present invention, a priority pond field portion (PFP) is defined as a portion of the pond field portion (PF), advantageously a strip of substantially constant width bordering one side of the main field (CP), or as a part of such a portion (PF), which may or may not be a working portion (PFP).

[0035] As already mentioned, the pond area does not necessarily cover the whole of the main field (CP), it does not extend to all sides of the main field, but there may be a pond area on only part or one of the sides, and the preferred pond area part (PFP) can be located in any part of the pond area, i.e. on any side. However, the preferred pond area part (PFP) is always within the outer contour of the agricultural plot (P) and cannot extend beyond it, even partially. This is because it is an autonomous operation of the robot, which imposes a safety contour on the robot and cannot leave it (although it is possible to redefine the contour of the agricultural plot to include a dedicated pond area, if necessary).

[0036] The supply station (SR) can be moved autonomously by a robot or by an operator (using a tractor or similar vehicle that can tow or push the station, alerted by a central common management and control system or robot).

[0037] Each Priority Pond Area Portion (PFP) is determined based on an access point or entrance (PA) to a given agricultural plot (P), which is advantageously located near or incorporated into that agricultural plot (P) (see Figure 3).

[0038] According to one of the features of the invention, the method can be arranged to position and dimension each priority pond field part (PFP) so that during the feeding operation both the feeding station (SR) and the feeding robot (R1, R2, ..., Ri), and if applicable also their tools, are located entirely within a given priority pond field part (PFP). This non-debordemen condition imposes a minimum dimension of the priority pond field part (PFP) so that all feeding related operations are performed within its boundaries.

[0039] It will be understood that the Preferred Pond Area Part (PFP) does not necessarily extend over the entire length of one side of the Main Field (CP): for logistical reasons or for practical reasons on the farm (e.g. the perimeter of the plot is blocked by forests, waterways or depressions, the location of access points is field dependent, etc., and a reloading station or reload station (SR) must be brought into the plot), the user may choose to use only a part of the pond area associated to one side.

[0040] The selection of the location of the Preferred Pond Area Part (PFP) is the responsibility of the user, but the central common management and control system (SC) may suggest one or more locations, which may be optimal or not, in relation to the available data and the above parameters and functions.

[0041] In one possible embodiment of the invention, in addition to the first initial location of the supply station (SR), it is possible to predefine at least one second location forming a supply point for each priority pond area part (PFP), preferably based on a priori estimates of the consumption of the inputs. The locations of said later stations can be added or changed during the work of the agricultural plot (P) depending on unforeseen changes, exceptional circumstances or fortuitous accidents during the work progress.

[0042] As shown in Figures 4 and 5, depending on the progress of work in the agricultural plot (P), the supply station (SR) within the relevant priority pond area portion (PFP) can be moved, as needed, either autonomously or by towing or pushing via one of the robots (R1, R2, ..., Ri).

[0043] According to an advantageous embodiment of the invention, particularly in the case of large areas, the method of the invention comprises, during or after the evaluation and planning stage, subdividing the main field (CP) into at least two main field parts (PCPi), each of which preferably comprises a number of elongated strip-shaped basic work zones (ZT1, ZT2, ..., ZTj), allocating to each of these main field parts (PCPi) either a separate and unique priority pond area part (PFPi) (see FIG. 4) or a priority pond area part (PFP) common to all of these parts (PCPi) (see FIG. 5), and moving the supply station (SR) within the common priority pond area part (PFPi) or from one priority pond area part (PFPi) to the next priority pond area part (PFPi) depending on the progress of the work on the given agricultural plot (P), advantageously when the robots (R1, R2, ..., Ri) contain enough inputs during the work to complete the work in the main field (PCPi).

[0044] The movement of the supply station (SR) can be carried out, for example, as described in French patent application No. 2 101 107, filed on February 5, 2021 in the name of the applicant, the contents of which are incorporated herein by reference. [Patent Document 3] French Patent Application No. 2101107

[0045] Regarding Figures 4 and 5, for example, the following points can be noted: - In Fig. 4A, (PCP1) is being worked on by the robots (R1 and R2), (PCP2) and (PCP3) have not yet been worked on, and in Fig. 4B, (PCP1) has been worked on, (PCP2) is being worked on, (PCP3) has not yet been worked on, and the supply station (SR) has already been moved from the preferred pond area part (PFP) associated with (PCP1) to the preferred pond area part (PFP) associated with (PCP2). - In Fig. 5A, (PCP1) is being worked on by two robots (R1 and R2), (PCP2) and (PCP3) are not yet worked on, in Fig. 5B, (PCP1) is done, (PCP2) is being worked on by a second robot (R2), (PCP3) is not yet worked on, and the resupply station (SR) has already been moved by the first robot (R1) from the priority pond area part (PFP) associated with (PCP1) to the priority pond area part (PFP) associated with (PCP2). In Fig. 5C, (PCP1) is done, (PCP2) is being worked on by two robots (R1 and R2), (PCP3) is not yet worked on, and the resupply station (SR) is located in the priority pond area part (PFP) associated with (PCP2).

[0046] Note that it can be used to move the resupply station (SR) when one of the robots (Ri) moves closer to the resupply station (SR) or vice versa in order to resupply that robot.

[0047] In yet another characteristic of the invention, the position that a supply station (SR) temporarily occupies in a given priority pond area portion (PFP) is changed when it becomes part of a pond area segment (segment de fourriere) (SFE) located at the edge of a basic work zone (ZT1, ZT2, ..., ZTj) worked by a robot (R1, R2, ..., Ri), and, if necessary, this zone is exclusively assigned to the robot during the robot's working period in this zone.

[0048] Such a principle of exclusive allocation of basic working zones is in particular of the type described in the application dated 24 September 2020 in the name of the applicant (Patent Document 4, French Patent Application No. 2009705), the contents of which are incorporated herein by reference. French Patent Application No. 2009705 [Patent Document 4] French Patent Application No. 2009705

[0049] When the level of at least one input object is insufficient for a robot (R1, R2, ..., Ri) to travel to and from the currently operating basic working zone (ZT1, ZT2, ..., ZTj) in which it has to work, it is advantageous to have that robot (R1, R2, ..., Ri) perform a supply operation in addition to the pre-planned and programmed supply or as an alternative to the pre-determined supply.

[0050] For example, but not by way of limitation, in accordance with the features of the present invention, particularly those features which are of preferential availability, it will be appreciated that the present invention may be implemented using known agricultural planning and control software, particularly software or robotics solutions of the type known by the following names: [Non-Patent Document 1] "Fieldplanne" la soci·t· Lacos Computerservice [Non-Patent Document 2] "AgBot" la soci·t· AGXeed

[0051] Possible practical procedures for the method of the present invention are explained below in two non-limiting examples in conjunction with FIG. 4 and FIG.

[0052] In the first possible scenario, described in relation to Figure 5, an agricultural plot (P) is divided into three work zones (PCP1, PCP2, and PCP3) and two robots (R1 and R2) are assigned to agricultural work on this agricultural plot. When viewed from above, the agricultural plot has a pound field (ZF) along its top edge or side. The user (or software) defines a preferred pound field portion (PFP) of the entire pound field (PF). The robot and the resupply station (SR) are brought to the agricultural plot to be worked on and placed at the starting point (the first zone to be worked on in the case of the two robots, or the preferred pound field portion in the case of the station). The two robots each start working in the first zone (PCP1) of the agricultural plot according to the assignment sent from the central common management and control system (SC) (Figure 5A).

[0053] The robot (R2) changes zones and moves to zone (PCP2) upon completion of the tasks assigned to it in zone (PCP1). The robot (R1) moves to zone (PCP2) upon completion of all tasks assigned to it in zone (PCP1). On the way there, the robot moves to station (SR) and is placed opposite zone (PCP2) in the section of the priority pond area part (PFP) associated with this second zone, where it remains in the priority pond area (Figure 5B). Depending on the levels of various inputs present in the robot (R1), the robot (R1) can take the opportunity to replenish at station (SR) as needed (replenishment can be done immediately before or after moving the robot) before resuming work in zone (PCP2).

[0054] In parallel with the robot (R1) moving to the station, another robot (R2) continues working in the second zone (PCP2). After the robot (R1) has finished moving to the station, when the level of one (or more) of the robot's (R2) inputs reaches a critical level (in other words, when R2 is unable to complete a complete round trip), the robot (R2) moves to the reload station (SR) when it approaches the priority pond area part (PFP). The robot is then refueled and continues working in zone (PCP2) (Figure 5C).

[0055] Although not shown, those skilled in the art will understand that the transition from the second zone (PCP2) to the third zone (PCP3) is similar to the transition from the first zone (PCP1) to the second zone (PCP2).

[0056] In this case, to implement the method of the present invention, the user (or software) chooses that the last robot to leave the work zone is responsible for moving the station (SR) to the priority pond area part (PFP). In this case, this strategy is defined when defining the assignment in the software. However, it will be understood that the robot can go to the refill station at any time during the assignment if it needs to reload at least one input.

[0057] A second scenario for implementing the method of the present invention is partially shown in Figures 4A and 4B. It is very similar to the first scenario above, except that instead of a single preferred pound area portion, three separate preferred pound area portions (PFPs) are defined (by the user or by the software). Each preferred pound area portion (PFP) is associated with one of the three work zones (PCP1, PCP2, PCP3) and covers only a portion of the pound area. As the robot moves from zone (PCP1) to zone (PCP2) to zone (PCP3), the refill station (SR) also moves from one preferred pound area portion (PFP) to another preferred pound area portion (PFP).

[0058] As shown in particular in Figures 2 to 5, the invention also relates to a "combination" of agricultural machines for implementing an automated method for working on an agricultural plot (P), as described above.

[0059] This combination generally consists of a fleet of at least two mobile robots (R1, R2, ..., Ri) equipped with appropriate work tools and operating autonomously and independently, and a central common management and control system (SC) capable of evaluating and planning the work to be performed on a given agricultural plot (P), communicating with the robots to send and receive instruction and / or control signals and possibly receiving operational and / or status information from the robots (R1, R2, ..., Ri), each robot (R1, R2, ..., Ri) being equipped with a satellite positioning or tracking device and means of measuring input reserves and autonomy based on current consumption and estimated future consumption.

[0060] This combination of the invention is also characterized by the inclusion of at least one autonomously or non-autonomously mobile input supply station (SR) which is initially positioned within a priority pond area portion (PFP) of the agricultural plot (P) predefined by a central common management and control system (SC).

[0061] In practice, a farmer transports the robots (R1, R2, ..., Ri) and the feeding / reloading station to the agricultural plot (P). The farmer places the robot at the start of its mission and the feeding / reloading station at the first feeding location within a preferred pond area part (PFP) located within the contour of the agricultural plot. The remaining movements and operations of the mission (working in the agricultural plot, moving the robot to the station, moving the station) are performed fully autonomously and automatically via a central common management and control system (SC) and the operation monitoring software implemented in the robots (R1, R2, ..., Ri). The feeding / reloading can be performed autonomously or with operator intervention as well.

[0062] As a precautionary measure, it is also possible to provide refueling stations on agricultural plots based on theoretical (i.e. preliminary) estimated calculations, even if refueling is not necessary. This can be explained by the fact that there can be a large difference between the predicted consumption of inputs and the actual consumption of inputs. For example, depending on the soil type and moisture, a robot may consume much more fuel than initially predicted before working on an agricultural plot. The actual consumption of the various inputs (and therefore the levels of the respective tanks / hoppers) is constantly monitored during work. When a need for refueling (especially related to the criterion to avoid empty trips mentioned above) is detected, the robot involved receives a refueling instruction.

[0063] Of course, the invention is not limited to the embodiments described in the attached drawings and described above, in particular the configuration of each element may be replaced with technical equivalents and modifications may be made without departing from the scope of protection of the invention.

Claims

1. A method for cultivating an agricultural plot (P) by means of at least one autonomous and independent agricultural machine or robot (R1, R2, . . ., Ri), said agricultural plot (P) having at least one access point or entrance (PA) and at least one pond area (ZF), said pond area may or may not surround said main field (CP), said pond area being associated with one side of the main field (CP) or with an uncultivated zone thereof and formed by one or more pond area parts (PF) adjacent to or separate from one another, said method comprising scanning the main field (CP) before or during the progress of work in the main field (CP) and / or possibly in the pond area (ZF). A method for cultivating a given agricultural plot (P) by subdividing it into trip-like basic work zones (ZT1, ZT2, ..., ZTj), at least one end of each basic work zone being separated by a pond area portion (PF), and a robot (R1, R2, ..., Ri) assigned to each basic work zone cultivates each basic work zone in one or more passes, the method comprising: evaluating and planning in advance the work to be performed in the given agricultural plot (P), and programming, before the start of the work, for each robot (R1, R2, ..., Ri) a command and / or control sequence and a supply sequence (which may be planned or not) of at least one input product for the robot (R1, R2, ..., Ri) that may occur during the work throughout the given agricultural plot (P), During or after the evaluation and planning stage, a priority pond area portion (PFP) dedicated to the supply of inputs is defined, and at least one supply station (SR) for at least one input is located in the priority pond area portion (PFP), the supply station (SR) being movable or relocatable within the priority pond area portion (PFP), and each robot (R1, R2, ..., Ri) is directed to the priority pond area portion (PFP) when it receives a supply command or is self-generated.

2. A method as described in claim 1, characterized in that each pound field portion (PF) corresponding to a band-like pound field portion (PF) of substantially constant width adjacent to one side of the main field (CP), or a fragment of this pound field portion (PFP), is defined, and the priority pound field portion (PFP) is not required to be the target of work or not.

3. 2. The method according to claim 1, characterized in that each priority pond area portion (PFP??) is determined based on access points or entrances (PA) to a given agricultural plot (P), which are located nearby or integrated.

4. 2. The method of claim 1, wherein each pond field portion (PFP) is positioned and dimensioned such that both the supply station (SR) and the supply robot (R1, R2, ..., Ri) and, if applicable, their tools are fully positioned within the given pond field portion (PFP).

5. 2. The method according to claim 1, characterized in that in addition to the first initial position of the supply station (SR), at least one second position forming a supply point is predefined within each pound field portion (PFP) based on a prior estimation of the input consumption.

6. 2. The method according to claim 1, characterized in that the supply station (SR) in the priority pond area part (PFP) is moved autonomously or by pulling or pushing, if necessary, via one of the robots (R1, R2, ..., Ri), depending on the progress of work in the agricultural plot (P).

7. 2. The method according to claim 1, characterized in that during or after the evaluation and planning phase, the main field (CP) is subdivided into at least two main field parts (PCPi), a plurality of strip-shaped basic work zones (ZT1, ZT2, ..., ZTj), each of the main field parts (PCPi) is assigned a separate and unique priority pond area part (PFPi) or all of these main field parts (PCPi) are assigned a common priority pond area part (PFP), and depending on the progress of work in a given agricultural plot (P), the supply station (SR) is moved within the common priority pond area part (PFP) or from one priority pond area part (PFPi) to the next priority pond area part (PFPi), and this movement is performed when the robot (R1, R2, ..., Ri) has enough inputs to complete work in the main field part (PCPi) currently being worked on.

8. 2. The method according to claim 1, characterized in that the position of the supply station (SR) within the priority pond area portion (PFP) is modified when it temporarily occupies a part of a pond area segment (SFE) located at the edge of the basic work zone (ZT1, ZT2, . . . ZTj) worked by the robot (R1, R2, . . . Ri), and this pond area segment is assigned exclusively to the robot as needed during the robot's work period in this zone.

9. 2. The method according to claim 1, characterized in that the robot (R1, R2, ..., Ri) is made to perform a replenishing operation when, during normal operation, the level of at least one input object becomes insufficient for the robot to shuttle within the basic working zone (ZT1, ZT2, ..., ZTj) in which it must work or in which it is currently working.

10. 1. A combination of agricultural machinery for implementing a method for automatically working an agricultural plot (P) according to claim 1, comprising: a platoon of at least two mobile robots (R1, R2, ..., Ri) operating autonomously and independently and equipped with suitable work tools; and a central common management and control system (SC) capable of evaluating and planning the work to be performed on a given agricultural plot (P), and capable of communicating with each robot (R1, R2, ..., Ri) to send and receive instructions and / or control and to receive operation and / or status information from each robot (R1, R2, ..., Ri), each robot (R1, R2, ..., Ri) equipped with a satellite positioning or tracking device and means for autonomously determining a reserve amount of input material based on current consumption and estimated future consumption, characterized in that the combination also comprises at least one mobile, autonomous or autonomous supply station (SR) of input material, which supply station (SR) is initially positioned in a priority pond area portion (PFP??) predefined by the central common management and control system (SC) of the agricultural plot (P).

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