Method and installation for working an agricultural plot with at least two agricultural robots

Abstract

The present invention relates to a method for working on an agricultural plot (P) by at least two autonomous agricultural robots (R1, R2). The method is characterized in that, when a given robot (R1) arrives at the end of a run, it projects the robot into a pond area (PF) adjacent to the edge, completes the work of the current run (RA) in progress in the main field (CP) up to the edge of the main field (CP), then retreats once into the main field (CP) and waits there at least until the robot (RI) and its tool are completely relocated in the main field (CP), and then resumes the rest of the work on the agricultural plot (P).

Description

[Technical field]

[0001] The present invention relates to the field of agricultural machinery, and in particular to a method for performing work on the soil and / or vegetation of an agricultural plot by means of autonomous agricultural machinery with highly automated functions, commonly referred to as robotic agricultural machinery or agricultural robots, and preferably by means of a fleet of at least two such vehicles or machines. [Background technology]

[0002] The subject of the invention is a method for working on a plot of land by means of at least two agricultural robots, each robot assigned to a working zone performing a continuous and complete work, and an installation agricole for carrying out this working method. Its installation

[0003] The agricultural field P (generally substantially rectangular, but also of any parallelogram) is typically divided into a main field CP (corresponding to an optimally usable surface area SU) and at least one surrounding zone ZF (hereafter called the "pound zone") adjacent to all or part of the perimeter of this main field (encircling the entire perimeter of CP, see Figs. 1A and 1E). This pound zone ZF can surround the entire perimeter of SU or CP, as shown in Fig. 1A, and can be continuous, and can extend along all sides of the main field CP, but it can also be along only certain sides of the main field CP, for example along only one side, and can be fragmented (see Fig. 1B), or continuous (see Fig. 1C), or can even be along only a part of one side (see Fig. 1D).

[0004] Known solutions, as shown in Figures 1A to 1D, divide the working zones (ZTj, j between 2 and n) into bands when working in the main field CP. These bands (whose width is usually fixed over their entire length but can differ from each other) correspond to the working width of the agricultural robot used (for example each zone is worked in one pass or row RA) or correspond to a multiple (preferably an integer) of the working width (each zone is worked by the robot in even or odd passes or runs RA). Different robots are assigned to each zone, preferably exclusively (exclusively or preassigned to one robot per zone). The paths planned and executed by each robot while working in each area are known colloquially as "runs".

[0005] The work zones can be assigned / reallocated in real time according to the ongoing work progress of each robot and the evolution of the situation during the processing of the field plot. A work zone forming part of the main field CP can be assigned exclusively to one robot (for a particular phase or work mission) or can be assigned to multiple robots simultaneously or in series, performing the same or similar tasks, or even different or complementary tasks. Advantageously, said work zones are worked by a robot that makes at least one round trip through each zone.

[0006] Alternatively, as shown in Figure 1E, work can be done without subdividing the useful surface area SU (main field CP) into several work zones (in other words, the CP or SU constitute a single work zone, in which different tasks are performed simultaneously in a single block by different robots, and the robots are managed based on the runs RA that each robot has already completed (the part of the run to be performed shown by the solid lines in Figures 1E and 1C), or on the runs RA given to each robot in advance (the part of the run shown by the dotted lines in the figures).

[0007] Usually, there is at least one pond area on one side of the main field, advantageously on several sides of the main field, preferably at least on both ends of the working zones, and therefore at least on both ends of the runs or paths of the plot. This pond area is mainly used for U-turns and more generally for man·uvrer of machines or robots working in the plot from one run of the main field to another, but also for entering and leaving the plot, and also for going to a supply station located in part of the pond area or outside the plot (for example on the side of the access road to the plot) to replenish inputs or fuel. Usually, the pond area is also worked last, after the work on all the working areas or usable surface area SU of the plot.

[0008] In the present invention, the movements of each robot are managed and guaranteed by a software / monitoring system that knows in advance all the trajectories (runs) that each robot will follow and also knows in real time the position of each robot during its work (the robots do not communicate directly with each other). The present invention is applicable in particular to the cases in which the effective surface area described in [Patent Document] (French Patent No. FR3114215) and [Patent Document 2] (French Patent No. FR3114217) is divided into several working areas (Figs. 1B-1D, 2, 3), but also to the cases in which the useful surface area is not divided (Figs. 1A, 1E).

[0009] In most cases, each robot is equipped with (at least) a tool that is positioned backwards relative to the direction of travel during the operation.

[0010] However, in order to process an entire run or zone with this configuration (i.e. to the end of the pond boundary), the robot must be moved (at least partially) out of that zone or usable surface area (and therefore the main field) during operation and into the pond area to work with its rear tool at the end of the corresponding zone.

[0011] Those skilled in the art will know how best to work through a run from start to finish at once without interruption.

[0012] In practice, depending on the type of agricultural work carried out, a restart of a subsystem of a particular tool (for example the seed dispenser of a seed drill) may be necessary when the work is interrupted. However, the subsystem will not function optimally for a few meters after the restart, since it needs a certain time to have the same control (current operation) as before the restart. This can lead to heterogeneous or inexistent operation of the tool in parts of the run, and possibly in parts of the corresponding zone of the working area, which may lead to losses in the crop yield.

[0013] This situation is shown diagrammatically in Figures 2A and 2B as an example: if the robot R1 stops in the position shown in Figure 2A due to an interruption in the work, the part of the work zone in question (circled part A) will work differently (or not work at all) compared to the rest of the work zone after the work is resumed.

[0014] There are a variety of reasons why a robot may go into a waiting state, causing a temporary halt in operation at the end of a run.

[0015] What often happens is that when at least two agricultural robots are working on one plot of land, problems often arise when the first robot R1 wants to completely finish its current run when the second robot R2 passes through an adjacent pound section.

[0016] That is, in the example shown diagrammatically in Fig. 3, robot R1 has to finish its run and enter the pond area to work with its tool at the edge of the corresponding zone, but at the same time, robot R2 has to accept robot R2 (for example, for resupply or to move to a new area and work) into the part of the pond area occupied by robot R1 in order to move around the field. In this case, robot R1 and robot R2 have to be blocked, and prioritization and safety management measures (control logic) are required to prevent collisions and deadlocks (especially of the type mentioned above), which are inevitable in a robot farming infrastructure situation with multiple machines. Therefore, there is a strong need for a method to limit this type of situation as much as possible and to streamline the work of the field by making collisions, intersections and priority decisions between robots as easy as possible.

[0017] This problem is particularly addressed in EP 3508045, which proposes temporarily stopping a robot in a working zone at the end of a run (to allow a second robot to pass through that part of the pond area) as described above, whereby access is denied to a robot stopped in the pond area and work on a certain run is temporarily prohibited.

[0018] Furthermore, in the method disclosed in [Patent Document 4] (European Patent Publication No. EP3427562), a robot moving within a pound area stops within the pound area to avoid the possibility of a collision and allows a robot making a U-turn within the pound area to pass. Other known solutions than those mentioned above are described in [Patent Document 5] (Patent Publication No. 6854847-B2), [Patent Document 6] (Patent Application Publication No. JP2020018262-A1), and [Patent Document 7] (International Publication No. WO2018 / 163615-A1).

[0019] However, none of these known solutions satisfactorily addresses the above needs. [Prior art documents] [Patent documents]

[0020] [Patent Document 1] French Patent Publication No. FR3114215 [Patent Document 2] French Patent No. FR3114217 [Patent Document 3] European Patent Publication No. EP3508045 [Patent Document 4] European Patent Publication No. EP3427562 [Patent Document 5] Patent No. 6854847B2 [Patent Document 6] Patent Application Publication No. JP2020018262A1 [Patent Document 7] International Publication No. WO2018 / 163615A1 Summary of the Invention [Problem to be solved by the invention]

[0021] The object of the present invention is to provide a simple and satisfactory solution that optimally meets the above needs. As mentioned above. [Means for solving the problem]

[0022] To achieve the above object, the subject of the invention is a method for working a plot of land by means of a fleet of at least two agricultural robots, each of which has at least one tool located at the rear in the direction of travel, functioning autonomously and independently of one another, said fleet being operated under the control of a common central system of planning, management and control, said plot of land being adjacent to at least a portion of one side of a main field. a method for programming each robot, in particular automatically and / or manually, with instructions, settings and / or command sequences, including the movement trajectory of each robot, before starting work on the land plot, possibly while the work is in progress or after a prior evaluation and planning of the work to be performed on the land plot, the method being characterized in that, for a target robot which may reach the end of a run and go into a waiting state, the tool of the robot is moved to the end of the run, i.e. into the pound area adjacent to said edge portion, to continue and complete the main field work currently in progress on the run, and then moved back into the main field until at least the entirety of the robot and its tool are again completely positioned within the main field, remaining in place until the condition or cause of the waiting situation is eliminated, after which work on the remainder of the land plot (P) is resumed.

[0023] 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]

[0024] [Figure 1A] [Figure 1B] [Figure 1C] [Figure 1E] FIG. 2 illustrates a known solution for working with the main field CP.

[0025] [Figure 2A] [Figure 2B] A diagram of the effective surface area divided into multiple working areas.

[0026] [Diagram 3] FIG. 1 is a diagram illustrating an example of a problem that arises when a single plot of farmland is worked on by at least two agricultural robots.

[0027] [Figure 4A] [Figure 4B] [Figure 4C] [Figure 4D] [Figure 4E] FIG. 1 is a diagram for explaining the method of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] Figures 4A, 4B, 4C, 4D, and 4E are plan views similar to Figures 2 and 3 showing successive stages of the method of the present invention, showing a top view of a formation of two agricultural robots at different stages corresponding to the actions to be performed by one agricultural robot according to a logic of predefined priorities and security rules when a waiting situation occurs.

[0029] The invention relates to a method for working a field plot (P) by a platoon of at least two agricultural robots (R1, R2, ..., Ri...) operating autonomously and independently of one another, each equipped with at least one tool (O) arranged behind in a direction of travel (AV). Said platoon is operated under the control of a common central planning, management and control system (SC) known to the person skilled in the art. The field plot (P) comprises at least one pond area (ZF) adjacent to at least a part of one side of a main field (CP).

[0030] The method of the invention involves automatically and / or manually programming, before the start of work on the relevant field plot (P), possibly during the start or after the evaluation and planning of the work, instructions (consignes), parameters and / or command sequences including movement trajectories (trajectories of deplacement) for each robot (R1, R2, ..., Ri, ...) (making up a run in the main field CP).

[0031] In the method of the present invention, a robot (Ri) that has arrived at the end of a run (RA) and is likely to be in a waiting state is moved until its tool (O) is at the end of the run (and thus at the corresponding edge portion (EZ) of the main field (CP)), and the tool (O) of the robot enters the pond area (PF) adjacent to this edge portion to continue and complete the work in progress in the main field (CP) for the current run (RA), and then the robot moves back into the main field (CP) to once again position at least the robot (Ri) and its tool (O) therein, and remains in that position until the condition or cause of the waiting situation is resolved, and then work on the remainder of the land plot (P) is resumed.

[0032] The above-mentioned configuration of the method according to the invention allows the invention to effectively overcome problems related to waiting situations of a particular robot in a simple manner, without significantly affecting other functions or the functions of other robots. The other robots do not form obstacles in the pond area and can optimally process the current run. It is understood that the method according to the invention can be applied when the end of a run (RA) reaches a part of the pond area (PF), but not systematically (only when the conditions of a waiting situation are met). That is to say, the method according to the invention guarantees uniform work over the entire length of the run (RA), prevents collisions in the pond area for all runs (regardless of the occurrence of waiting situations) and allows easy management of crossings between robots.

[0033] In another advantageous embodiment of the invention, which is both flexible and safe, the fulfillment of a condition or the existence of a cause for a waiting situation for a given robot (Ri) is verified by that same robot (Ri) when it arrives at the end of its current run and approaches a portion of the pond area (PF), and the execution by that robot (Ri) of any action related to the proven waiting situation thereafter depends on a prior safety check performed by that robot (Ri).

[0034] In another variant, with regard to a high degree of centralized control of the robot fleet and the limitee of possible sophistication, the existence of a waiting situation is notified to a given robot (Ri) by a common central planning, management and control system (SC).

[0035] In order to minimize the crushing of the sown crop (during sowing operations and post-sowing plant processing), it is advantageous for the reversal movement of the robot (Ri) in the opposite direction to take the same trajectory, but in the opposite direction, as the trajectory taken to complete the work at the end of the current run (RA).

[0036] Alternatively, in order to limit the compaction of the ground (eliminating the risk of crushing seedlings and plants during tillage operations such as plowing, thatching, digging, etc.), the reversal movement of the robot (Ri) in the opposite direction can be made to follow a trajectory different from the original trajectory that completed the work at the end of the current run (RA), preferably offset laterally by at least the width of the trajectory of the robot's rotation means, thereby allowing a better distribution of the loads impacting the ground.

[0037] During the march of a given robot (Ri), at least one tool (O) is preferably inactive and, if necessary, lifted.

[0038] In a first embodiment, as shown in FIG. 4, and in relation to the methods described in FR 3 114 215 and FR 3 114 217, the method of the invention subdivides, before the start of work in the field (P) or during the progress of work in the field (P), a main field (CP) into a number of work zones (ZT1, ZT2, ..., ZTI, ...) in the form of bands, at least one end of which corresponds to an edge portion (EZ) of the main field (CP) and which extend into a part (PF) of the pond area (ZF), each of which is assigned to one of the robots (R1, R2, ..., Ri, ...) and which are worked longitudinally in one or more passes or runs, advantageously with at least one stroke.

[0039] In a second embodiment, the main field (CP) is not divided, as shown in the field plot in Fig. 1E. In this case, the system and robots consider a single zone, but not exclusively, which can be worked by several or all robots in the formation at the same time (enhancing the vigilance of the emergency system to avoid). Each robot in the main field plans each route considering the number of trips required to work the whole. These instructions are sent to each robot by the supervisory system (SC). The distribution of work between each robot in this single area is done at the time of route generation and command and is sent to the relevant corresponding robot.

[0040] Several work scenarios are possible in relation to this second embodiment (below, an example of a formation including three robots Ri (i is a number from 1 to 3) is shown).

[0041] _ The same agricultural tasks for all robots in the main field (CP): In this case, each robot works in a part of the CP (for example, there are two robots in the CP, and you simply assign the left half to one and the right half to the other).

[0042] _ All robots perform a different set of agricultural tasks in the main field (CP): In this case, all robots follow the same or almost identical routes with a time lag (ΔX meters / round trip / minute between two successive robots) and work the entire main field (CP). In an example applied to a platoon of 3 robots (i=1-3), R1 uses the cultivator (dechaumeur), R2 uses the rotary harrow (herse rotative) and R3 uses the seeder (semoir).

[0043] If the robot (Ri) is equipped with at least one tool (0≡) in front, it is advantageously planned to be able to move in a reverse direction in the main field (CP) and, if necessary, in the working area, until the at least one tool (0≡) arranged in front is completely located in the main field or in the zone (ZTj).

[0044] In order to achieve a high degree of automation, the method of the invention allows, when programming each robot (R1, R2, ..., Ri) with the instructions and / or command sequences before it starts working within the pond area (P), to define for each robot the characteristics of the reversal that is likely to be performed in a waiting situation, in particular its magnitude and the type of trajectory, i.e. a reversal trajectory that is the same or offset from the trajectory of the movement just before ending the run (RA).

[0045] In order to be able to carry out a wide variety of processes, the invention preferably allows for a number of statuses or possible causes of a waiting situation for a particular robot (Ri) in the fleet, and relates them, for example, to the robot (Ri) itself, to the organization of the fleet, to the progress and working status of the field plot (P) and / or to instructions from a common central system for planning, management and control (SC) or from an operator.

[0046] That is, for a given robot (Ri) (i=1 in FIG. 4), for example, the following situation can be given as the final waiting condition of a run (RA) in which the principles of the present invention will be applied (when a pound area exists):

[0047] - A situation where Ri waits for an order from the user (or the SC monitoring system) that must be sent to a filling station or parking lot (which are generally located at predefined locations within the pound area).

[0048] _ Ri has completed the tasks assigned to her and is waiting for the mission to be completed before returning to the parking lot outside the main field (i.e., all robots have completed their tasks).

[0049] - A situation where the logic managing the priority of passage gives priority to another robot Rj (j=2 in Figure 4) over Ri and defines a backward movement for Ri in order to avoid creating an unnecessary obstacle in the pond area (a pause for Ri's run).

[0050] - A situation in which a fault is detected in Ri (and / or one of its tools (O) or (O')), which requires a non-immediate stop, the robot Ri finishes its run and waits at the end of the run, allowing it to return to work after the problem has been resolved.

[0051] The invention further relates to an agricultural assembly for implementing the above-mentioned automated method of working agricultural land (P).

[0052] The agricultural assembly comprises a platoon of at least two mobile agricultural robots (R1, R2, ..., Ri) capable of operating autonomously and independently of one another, each equipped with at least one suitable work tool arranged at its rear according to its direction of travel (AV), said common central planning, management and control system (SC) which evaluates and plans the work to be performed on the agricultural land plot (P) in question, transmits instructions and / or orders to each robot and is able to communicate with each robot (R1, R2, ..., Ri) in order to receive, in return, information on the operation and / or status of each robot (R1, R2, ..., Ri) before it starts and, if necessary, during the work on the agricultural land plot (P), each robot (R1, R2, ..., Ri) further comprising a location device and further comprising means for automatic measurement of input stocks based on current and estimated future consumption.

[0053] The feature of this assembly is that each robot (R1, R2, ..., Ri) is configured and programmed to execute a predetermined sequence of actions as described above when it goes into standby.

[0054] 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 working in a farm plot (P) by a convoy of at least two autonomous and independently functioning agricultural robots (R1, R2, ..., Ri) each equipped with at least one tool (O) at the rear in the direction of travel (AV), wherein the farm plot (P) has at least one pond area (ZF) adjacent to at least a portion of one side of the main field (CP), the convoy moves under the control of a common central planning, management and control system (SC), and before the start of work in the farm plot (P), possibly during work, and even after prior evaluation and planning of the work to be performed in the farm plot (P), before the start of work, automatically and / or manually, programming each robot (R1, R2, ..., Ri) with commands, settings and / or command sequences including the movement trajectory of each robot, A method characterized by, for a robot (Ri) that may arrive at the end of a run (RA) and enter a standby state, moving the robot (Ri) into a pound area (PF) adjacent to the edge zone (EZ), moving its tool (O) to the end of the run (RA), and thus to the relevant edge zone (EZ) of the main field (CP), thereby continuing and completing work in progress in the farm plot (P) of the main field (CP) within the current run (RA), and then moving them backward into the main field (CP) until at least the robot (Ri) and its tool (O) are fully located within the main field (CP) again, remaining in place until the conditions or cause of the standby state are resolved, and then resuming work in the farm plot (P).

2. The method according to claim 1, characterized in that the satisfaction of conditions or the existence of causes leading to a particular robot (Ri) standby state is verified by the robot (Ri) when the same robot (Ri) arrives at the end of the current run and approaches a portion adjacent to the pound area (PF), and subsequent actions of the robot (Ri) related to the verified standby state are performed depending on prior security checks performed by the robot (Ri).

3. The method according to claim 1, characterized in that the existence of a standby status for a specific robot (Ri) is communicated to that robot (Ri) through a common central system for planning, management, and control (SC).

4. The method according to claim 1, characterized in that the reverse movement of a specific robot (Ri) traces the same trajectory in the opposite direction as the trajectory on which the task was completed at the end of the current run (RA).

5. The method according to claim 1, characterized in that the reverse movement of a specific robot (Ri) follows a different path from the trajectory on which it completed its task at the end of the current run (RA).

6. The method according to claim 1, characterized in that at least one tool (O) is deactivated when the robot (Ri) is moved backward.

7. The method according to claim 1, characterized in that, before commencing work in a farm plot (P), and possibly while work is in progress within the farm plot (P), the main field (CP) is divided into band-shaped work zones (ZT1, ZT2, ..., ZTj), at least one end of each work zone corresponding to the edge portion (EZ) of the main field (CP) extends into a portion (PF) of the pound area (ZF) and is assigned to one of the robots (R1, R2, ..., Ri), and longitudinal work is performed in one or more passes or runs.

8. The method according to claim 1, characterized in that when the robot (Ri) has at least one tool (0≡) positioned forward and moves backward within the main field (CP), and possibly within the work zone (ZTj), the at least one tool (0≡) positioned forward is positioned entirely within the main field or work zone (ZTi).

9. The method according to claim 1, characterized in that, when programming commands and / or command sequences for each robot (R1, R1, R2, ..., Ri) before commencing work in a farm plot (P), the characteristics of the reverse movement described above that may occur in a standby state for each robot, in particular its magnitude and type of trajectory, i.e., whether it is the same as or offset from the forward trajectory immediately preceding the run (RA) performed to complete the run (RA).

10. The method according to claim 1, characterized in that there are multiple conditions or possible causes for the standby status of a particular robot (Ri) in a formation, and these are associated with the particular robot (Ri) itself, the organization of the fleet, the progress and work status of farm plots (P), and / or commands from a common central planning, management and control system or operator.

11. An agricultural assembly for carrying out the method of claim 1, comprising a convoy of at least two mobile automated farm robots (R1, R2, ..., Ri) that move autonomously and independently of each other, each equipped with at least one suitable working tool (O) positioned behind the direction of travel (AV), and a common central planning, management and control system (SC) for planning and managing work within a farm plot (P), wherein the common central planning, management and control system (SC) communicates with the farm robots to transmit instructions and / or commands, and optionally receives information on the operation and / or status of the farm robots (R1, R2, ..., Ri) before commencement and, if necessary, during work on the farm plot (P), and each farm robot (R1, R2, ..., Ri) is equipped with a location information device and further comprises means for automatically measuring the amount of input stored based on current and future estimated consumption, if necessary.

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