Method for working on a plot of farmland with a fleet of at least two agricultural robots

Abstract

The present invention relates to a method for simultaneously working a plot of land (P) by at least two agricultural robots (R1, R2, Ri) operating autonomously and independently according to commands and / or instructions transmitted by a common central management and control system (SC). The method of the present invention is characterized in that, at least in the work stage, a plot of land (P) to be worked is subdivided into at least two different work areas (Z1, Z2, Zj), each work area (Z1, Z2, Zj) is exclusively assigned to one of the agricultural robots (R1, R2, Ri), the width (Lz) of the work area (Z1, Z2, Zj) is equal to one or more multiples, preferably an integer, of the work width (Lr) of the exclusively assigned agricultural robot (R1, R2, Ri), and during work on the plot (P), the assignment of the not yet worked work areas (Z1, Z2, Zj) to each agricultural robot (R1, R2, Ri) is carried out gradually depending on the degree of completion of work currently being carried out in each work area, which differs for each assigned agricultural robot.

Description

[Technical Field]

[0001] The invention relates to the field of agricultural machinery, more particularly to the soil work or plant cultivation of agricultural plots, and is directed to a method for automatic and simultaneous work by a fleet of at least two agricultural machines or robots, and to an agricultural assembly for carrying out this method. [Background technology]

[0002] In the agricultural sector, it is known that when a fleet of autonomous agricultural machines (robots) works on a plot, it is important to distribute the work within the plot to ensure system efficiency, as well as to avoid the risk of collisions between different agricultural machines as much as possible.

[0003] A parcel P is typically divided into a "main field" CP (the area that is best available) and an area F that surrounds all or part of the main field CP (zone de fourriere, surrounding area, storage area, hereafter referred to as "pound area"). (In Figure 1, the pound area is the entire perimeter of the main field.) This pound area is the area used by agricultural machinery when moving from one working row to another in the main field (e.g., when making a U-turn).

[0004] In a known conventional way, each autonomous vehicle in a fleet communicates with each other (directly by radio frequency or via a central system) to keep track of the other autonomous vehicles' positions. Another solution is the master-slave type, where the slave robot replicates the path of the master robot.

[0005] However, these known solutions always require a two-way communication exchange and require permanent communication between the robots, which inevitably results in complex data flows and connections between the machines and the network.

[0006] Additionally, known master-slave solutions require the slave robot to depend on the master robot, reducing efficiency as the two machines cannot actually operate independently and can only work in pairs or groups. Additionally, each robot must be managed via a permanent communications link.

[0007] Finally, another solution suggests dividing the work area into "working zones" of fixed width corresponding to the working width of the agricultural robots that will be working, allocating these zones to different robots and allocating / reassigning the zones in real time according to the progress of each robot's work. Such a solution is disclosed in [Patent Document 1] (European Patent Publication No. EP 3,508,045) or [Patent Document 2] (US Patent Application Publication No. US 2019 / 0146513).

[0008] Although the latter type of solution does not require constant communication, it does require frequent communication exchanges between the centralized control system and the robots. This solution is also not very flexible. Furthermore, the machine routes are not known in advance, making collision management between the robots extremely complex. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] European Patent No. EP3,508,045 [Patent Document 2] U.S. Patent Application Publication No. US2019 / 0146513 Summary of the Invention [Problem to be solved by the invention]

[0010] The aim of the present invention is to overcome the drawbacks of solutions of the latter type in particular. [Means for solving the problem]

[0011] To achieve the above-mentioned objectives, the present invention provides a method for simultaneously working a plot of agricultural land by at least two agricultural machines or robots working autonomously and independently, according to instructions and / or commands transmitted by a common central control and steering system, characterized in that, before the start of work on the plot or gradually during work, the plot to be worked is subdivided into at least two separate working zones (zones de work) so as to fully cover the available surface area of ​​the plot, preferably substantially the entire surface area, each working zone consisting of a strip of the plot, each working zone being assigned exclusively to one agricultural robot for at least a given working period, the width of the majority of the working zones being equal to one or more multiples, preferably an integer, of the working width of the exclusively assigned agricultural robot, and the allocation of the working zones not yet worked to each agricultural robot is gradually made in the course of carrying out work on the plot, depending on the degree of completion of the work currently being carried out by the agricultural robot in each working zone.

[0012] The invention will be better understood from the following description of preferred embodiments, but is not limited to the following examples. The accompanying schematic drawings are all floor plans of agricultural plots. [Brief explanation of the drawings]

[0013] [Figure 1] A diagram showing that a section P consists of a main field CP and a pound area F adjacent to it, covering all or part of its periphery. In [Fig. 1], the entire perimeter of the main field is the pound area. [Figure 2]Diagram of alternating division of the partition field into work areas according to type ABC, ABC pattern or repeating pattern in case of rectangular partitions. [Figure 3] A diagram showing the division of the entire partition field into uniform working areas and bands of different dimensions (wider) (at the ends) alternating according to the same or repeating pattern (types ABC, ABC, ...) as in [Figure 2]. [Figure 4] Diagram of the division of the entire partition field into uniform working areas, alternating according to different or repeating patterns (types ABC, BAC, BA...) and into bands of different dimensions (wider) (at the ends). [Figure 5] A diagram showing the division of the entire plot field into uniform working areas, alternating according to the same pattern as in [Figure 2] or a repeating pattern (types ABC, ABC, ...), into bands of different dimensions (wider) (at the ends) and "empty" intermediate bands where no agricultural robots work. [Figure 6] A diagram of a plotted field divided into alternating working areas, showing the main components (central management and control system - autonomous robotic machines for agricultural work) that make up one example of an agricultural assembly for implementing the method of the present invention. [Figure 7] In the case of circular plots, a diagram of the division of the entire plot field into working areas divided according to the type ABC, ABC pattern or repeating pattern (as in [Figure 2] and [Figure 3]) and a central pond band (bande de fourriere centrale) (extending along the radius). [Figure 8A] and [Figure 8B] 8A and 8B are similar figures to those of FIGS. 2 and 5, respectively, showing the case where a robot machine is added (FIG. 8A) and the case where a robot machine is removed (FIG. 8B) when performing work in one section using the method of the present invention. [Figure 9A] , [Figure 9B] and [Figure 9C]2 to 5, showing a different method of management according to the present invention when an obstacle of relatively large dimensions (for example, an obstacle larger than the width of the working area) is present. DETAILED DESCRIPTION OF THE INVENTION

[0014] As can be seen from [Figures 2] to [Figure 9], the subject of the present invention is a method for simultaneously working a plot (P) by a fleet of at least two agricultural machines or robots (R1, R2, ..., Ri) working autonomously and independently according to instructions and / or commands transmitted by a common central management and control system (SC).

[0015] The tasks performed by the robot can cover all typical agricultural tasks (from pre-sowing preparation to post-harvest processing) and depend on the type of crop, the season, the nature of the soil, weather conditions, etc.

[0016] In the method of the present invention, before work on the plot (P) begins or gradually during work, a plot (P) to be worked on is subdivided into at least two separate working areas (Z1, Z2, ..., Zj), the entire working area covering substantially the entire arable surface of the plot, each working area consisting of a part of a band of the working area, each working area (Z1, Z2, Zj) being assigned exclusively to one agricultural robot (R1, R2, Ri) for at least one predetermined working period, and the width (Lz) of each working area (Z1, Z1, Zj) being equal to one or more multiples, preferably an integer, of the working width (Lr) of the agricultural robot (R1, R2, Ri) assigned exclusively to that working area. Furthermore, while working in the above-mentioned section (P), the working areas (Z1, Z2, Zj) that have not yet been worked on are gradually and exclusively allocated to each of the agricultural robots (R1, R2, Ri) according to the degree of completion of each agricultural robot's work in different working areas.

[0017] Thus, in the present invention, the available surface CP of a given section P (i.e., the main field) is divided into working areas that are exclusively assigned to each robot present in the fleet, and the zone reserved for one robot is the zone that only that robot can travel in during the period of the work that must be performed there, i.e., the robot works independently in that zone according to its program (specific commands sent by the central system before and / or during the start of work in the section and / or in the given zone), without being disturbed by other robots present in that section.

[0018] The solution provided by the present invention allows, thanks to the above rules, to significantly simplify the management of collisions and collisions between robots, to manage the work in each working area independently, to allow great flexibility in the number of machines working simultaneously in a given area, and in particular to eliminate the need for communication between robots, each communication between robots being carried out exclusively within the limits of the area allocated to it.

[0019] Furthermore, there is no need to know the individual positions of each robot. In fact, the movements of each robot are centrally managed by a management and control system, which controls the allocation of work areas and the definition of work parameters for each robot. Therefore, each robot communicates exclusively with the management and control system, and not with other robots.

[0020] Furthermore, the method of the present invention allows for easy addition / removal of robots while working within a single area (see Figure 8), easily adapts to work areas of different widths, and optimizes the movement of the robot between areas to be executed sequentially.

[0021] Finally, the exclusive pond areas associated with each working area at both ends of the working area allow for easy U-turns, maneuvers and the creation of material supply zones.

[0022] That is, crossings between robots in the pond area can be limited or even avoided entirely.

[0023] As shown by way of example in the accompanying drawings, the zones are subdivided in successive bands adjacent to one another in a sequential order from one end of a given section to the other. The different bands may all be of the same width, or may all be of different widths, or even some may be of the same width and others of different widths. The number of working zones obtained after the subdivision is preferably greater than or at least equal to the number of robots provided to work the section.

[0024] The allocation scheme (attribution method) of the different robots to the different work areas can be a scheme according to predetermined rules and logic at the beginning or during the work cycle of a given area, such as an imperative work scheme (arbitrary impose scheme), regular repetition, allocation according to the progress of the work of each robot, a series of topographical sequences of areas to be cut (passed) in advance, assigned as unallocated areas first, etc. It can be made into.

[0025] In the first embodiment of the present invention, as shown in, for example, FIGS. 3 to 5 and 7, each agricultural robot is initially assigned a first dedicated work area. Subsequent assignment of unworked work areas (to each agricultural robot) is gradually carried out during work in the section (P) according to the degree of completion of the work currently being performed by each assigned agricultural robot in each different area.

[0026] In a second embodiment shown in FIGS. 2 and 6, at the start of work on one section (P), all working areas (Z1, Z2, Zj) are assigned to each agricultural robot (R1, R2, Ri), with one robot exclusively assigned to each working area. Future reassignment to working areas not yet worked can be intervened at a given time during work on that section (P). This intervention can be made depending on the behavior, availability and / or status of each robot, as well as the actual or foreseeable progress of work at a given time in the working area exclusively assigned to each agricultural robot.

[0027] Adding and removing robots is shown diagrammatically in the work area patterns of Figures 8A and 8B.

[0028] At least the initial or first allocation of exclusive working areas (Z1, Z2, Zj) preferably follows different rules (alternating, cyclical, repetitive, or arbitrary) for allocating each robot to successive adjacent working areas resulting from the subdivision of the section (P). These working areas can be polygonal sections (P) with at least a partial circumferential pond area (F) as shown in [Figures 2] to [Figures 6], [Figures 8], and [Figures 9], or can be approximately circular (annular) bands arranged concentrically, such as in the case of a disk-shaped section (P) with pond areas (F) extending along its radius (Figure 7).

[0029] In order to rationalize and standardize the tasks performed simultaneously by multiple robots on a given plot, it is advantageous to have agricultural robots (R1, R2, Ri) performing the same type of tasks, each robot preferably having the same working width (Lr) and advantageously of the same type. However, it is also within the scope of the invention to perform the same type of tasks with robots having different working widths (Lr) (e.g., different sized models of the same type of robot). In the latter case, the working areas can have different adapted widths (Lz) (not shown).

[0030] If desired, two different fleets of robots performing complementary tasks can operate simultaneously within the same area, especially a large area, with one fleet completing a task and the other fleet commencing a task, preferably at two opposite ends of the area.

[0031] For example, to avoid the risk of collisions between robots working in adjacent areas, a traffic band (zone) where no work is performed can be placed between work areas, and / or some bands can be left fallow or used for a different crop. For example, as shown in Figure 5, a strip-shaped intermediate zone (Z') (e.g., several centimeters to several tens of centimeters) that is not subjected to work by agricultural robots (R1, R2, Ri) can be provided between at least two adjacent work areas (Z1, Z2, Zj).

[0032] According to another possible functional feature of the invention, the method of the invention also allows for a new allocation of the actually present and working agricultural robots (R1, R2, Ri) to the not yet worked working areas (Z1, Z2, Zj) when adding a new robot, removing or separating a robot, or shutting down a robot working in the working area. If necessary, this reaffectation is carried out by a common central management and control system (CS) after a new subdivision (PRP) of the remaining part (PRP) of the currently not yet worked area (P) is made and sent to each robot.

[0033] According to another possible feature of the invention, the subdivision of the plot (P) and the exclusive assignment of each agricultural robot (R1, R2, Ri) to the working areas (Z1, Z2, Zj) can be carried out in such a way that the crossings of the robots at the pond area (F) when changing the working area are minimized.

[0034] In the present invention, agricultural work tasks are carried out independently in each zone by different robots of a fleet of work vehicles assigned to each section, and it is of course possible to adjust the specific work parameters for each zone, in particular to adapt to desired or different work situations, such as:

[0035] - On slopes, the working speed can be slowed down.

[0036] - For areas with different soil compositions (stone, clay, sand, etc.), the working depth and / or tool and / or machine settings can be specified.

[0037] - In case of specific differentiated regional conditions: the amount of supplies delivered to each area can be adjusted (seeding density, phytosanitary products, irrigation, type of work carried out, etc.).

[0038] - Different varieties can be sown in each zone for flexible use of plots.

[0039] Additionally, the following considerations can be made regarding the definition and allocation of workspaces:

[0040] - The working area dimensions may be influenced by factors other than the working width of the agricultural robot: tool configuration, topography and / or geographical constraints may be more important.

[0041] - The width Lz of a given working area can be smaller than the working width Lr of the robot assigned to it, see in particular the last area BT or end band (end of the section, etc.) in [Figures 3] to [Figure 5].

[0042] - The next workspace assigned to a particular robot is not necessarily constrained to be adjacent or "touched" to the workspace that the robot just completed (it can "skip" unworked areas in order of proximity).

[0043] The completion of a task performed in one workspace does not necessarily correspond to the robot having performed 100% of the surface of that workspace: the allocation logic applied by the Central System (SC) may decide to move the robot to the next workspace even if the work in the current workspace is not fully completed (robot breakdown, stalling, limiting unnecessary operations, etc.).

[0044] - When a particular robot changes its working area, the area where it just completed its work is "freed up" so that another robot can enter it to perform a different task.

[0045] If obstacles (natural or non-natural), especially those of relatively large size (large rocks, pylons, mounds, racks, etc.), are present in the work area, subtle problems may arise.

[0046] Several solutions can be planned and implemented to prevent each agricultural robot from leaving its respective working area to avoid such obstacles.

[0047] - Define a large working area that includes the entire obstacle (OB), for example, as shown in [Figure 9A].

[0048] - Define a working area of ​​standard width and "reserve" several adjacent areas containing obstacles (OB) for one and the same robot, for example, as shown in [Figure 9B].

[0049] - Define a working area of ​​standard width and require the robot to wait for another adjacent area to be free before passing through that adjacent area, as shown in Figure 9C.

[0050] In all cases, obstacles and how to avoid them must be considered in the definition of the size of the area and in the allocation logic (supported by a central management and control system) to the robots involved.

[0051] The processing of the "pound area" and the operations performed therein are advantageously based on a specific logic (see my co-pending patent application on this subject).

[0052] Please note that not all plots necessarily have a pound area (Zone F) that encircles the entire available area (Main Field CP), but may only be present on both sides (e.g. only the top and bottom of the attached drawing).

[0053] Also, there may be no "pound area" at all, and maneuvers may be performed within the main field (merging of the compartment with the main field) without changing the principles of the invention.

[0054] Finally, if the pond area is considered to be part of the arable surface of the plot, the latter can either be worked in parts (at the end of each work) by robots assigned to different work areas, or it can be worked as a specific work area by at least one dedicated robot, which can then be assigned to work in the main field by at least one (preferably several) other robots. The minimum configuration allows for only two robots to be used: one for the main field and one for the pond area.

[0055] The invention also relates to an agricultural assembly for automatically working on a plot (P), as shown diagrammatically in FIG.

[0056] This agricultural assembly essentially consists of a fleet of at least two mobile agricultural machines or robots (R1, R2, ..., Ri) equipped with appropriate tools that operate autonomously and independently, and a common central management and control system (SC) that is able to communicate with said robots to send instructions and / or commands and to return information on their operation and / or status, each robot being equipped with a positioning device (dispositif de positionnement) or satellite positioning device (localisation par satellites).

[0057] A feature of the agricultural assembly of the present invention is that the central management and control system (SC) divides a plot (P) into at least two different strip-shaped working areas (Z1, Z2, ... Zj) before the start of work and / or gradually during work, preferably with the working areas covering substantially the entire surface of the plot, and exclusively assigns each working area (Z1, Z2, Zj) to one of the agricultural robots (Z1, R2, Ri) at least during work, and the width (Lz) of the majority of the working areas (Z1, Z2, Zj) ) is equal to or greater than the working width (Lr) of the exclusively assigned agricultural robot (R1, R2, Ri), and is preferably equal to a multiple of the working width (Lr) of the exclusively assigned agricultural robot (R1, R2, Ri), preferably an integer, and the exclusive allocation of the not yet worked working areas (Z1, Z2, Zj) to the agricultural robots (R1, R2, Ri) is gradually carried out according to the degree of completion of the work in progress in different working areas by each agricultural robot while the work in the section (P) is in progress.

[0058] The farming assembly of the present invention implements the above method to reliably manage a fleet of robots (R1, R2, Ri) during the work of one plot (P).

[0059] The invention is not limited to the embodiments and representations shown in the accompanying drawings, which may be modified, particularly in terms of the arrangement of the various elements, or may be substituted with technical equivalents, without departing from the scope of protection of the invention.

Claims

1. 1. A method for simultaneously working a plot (P) by a fleet of at least two agricultural machines or robots (R1, R2, ..., Ri) working autonomously and independently according to instructions and / or commands transmitted by a common central management and control system (SC), comprising: The common central management and control system (SC) gradually subdivides the plot (P) to be worked into at least two separate strip-shaped working areas (Z1, Z2, ..., Zj) consisting of parts of the plot (P) before or during the work on the plot (P), the entire working area covering substantially the entire arable area of ​​the plot; Each of the above working areas (Z1, Z2, Zj) is exclusively assigned to only one of the agricultural robots (R1, R2, Ri), and the width (Lz) of the majority of the working area (Z1, Z2, Zj) is equal to one or more multiples of the working width (Lr) of the exclusively assigned agricultural robot (R1, R2, Ri), During the work in the section (P), the allocation of the unworked work areas (Z1, Z2, Zj) to each of the agricultural robots (R1, R1, Ri) is gradually carried out in accordance with the degree of completion of the work in progress in each of the different work areas by each of the assigned agricultural robots; There is no need for inter-robot communication between the agricultural robots (R1, R2, Ri). A method characterized by:

2. 2. The method according to claim 1, wherein, after the initial allocation of the first dedicated working area to each agricultural robot, the subsequent allocation of remaining working areas to each agricultural robot to work on is carried out gradually during the work of the section (P) in accordance with the degree of completion of the work currently being carried out in different working areas by each assigned agricultural robot.

3. 2. The method according to claim 1, wherein at the start of work on the plot (P), all working areas (Z1, Z2, Zj) are assigned to each of the agricultural robots (R1, R2, Ri) by exclusively assigning one working area to one agricultural robot, and reallocation of not yet worked working areas between the agricultural robots is intervened at specific times during the performance of work on the plot (P) depending on changes in the behavior, availability and / or status of each robot, or on the actual or foreseeable progress of work in the working areas by each exclusively assigned agricultural robot.

4. 4. The method according to claim 1, wherein at least the initial or first exclusive allocation of the working areas (Z1, Z2, Zj) is carried out according to an alternating, cyclical, repetitive or arbitrary allocation rule for each agricultural robot to a series of adjacent working areas obtained by subdividing the partition (P), the working areas being in the form of substantially linear strips arranged side by side in the case of a polygonal partition (P) having a pond area around the periphery of the partition (P), or in the form of approximately circular strips arranged concentrically in the case of a disk-shaped partition (P) having a pond area (F) extending along a radius.

5. 5. The method according to any one of claims 1 to 4, wherein the agricultural robots (R1, R2, Ri) perform the same type of task, the agricultural robots having the same working width (Lr) and being of the same type.

6. The method according to any one of claims 1 to 5, wherein a strip-shaped intermediate zone (Z') that is not subjected to work by the agricultural robots (R1, R2, Ri) is provided between at least two adjacent working areas (Z1, Z2, Zj).

7. The method according to any one of claims 1 to 6, wherein when a new agricultural robot is added, when an agricultural robot is removed, or when an agricultural robot active in a work area is stopped, a work area (Z1, Z2, Zj) that has not yet been used can be newly assigned to the agricultural robot (R1, R2, Ri) that is currently working.

8. 8. The method according to claim 1, wherein the movement of an agricultural robot (R1, R2, Ri) in an exclusively assigned working area (Z1, Z2, Zj) is defined so as not to cross an agricultural robot in an adjacent or connecting working area at an edge common to the two working areas.

9. An agricultural assembly for automated work on a plot (P), comprising at least one fleet of autonomously and independently mobile agricultural machines or robots (R1, R2, ..., Ri) equipped with suitable tools, and a common central management and control system (SC) capable of communicating with said robots, sending instructions and / or commands and returning information on the operation and / or status of said robots, the common central management and control system (SC) has means for dividing the plot (P) into at least two separate working areas (Z1, Z2, ..., Zj) gradually before and / or during work on the plot (P), each robot being equipped with a positioning device or a satellite positioning device, and exclusively assigning each working area (Z1, Z2, Zj) to one of the agricultural robots at least during the work phase, with the entire working areas covering substantially the entire plot, each working area consisting of a part of the strip-shaped plot, the width (Lz) of most of the working areas (Z2, Z1, Zj) being equal to or greater than the working width (Lr) of each exclusively assigned agricultural robot (R2, R1, Ri), and the assignment of the working areas (Z1, Z2, Zj) that have not yet been worked to each agricultural robot is gradually made to each agricultural robot in the course of performing work on the plot (P) according to the degree of completion of work in progress in each working area by the agricultural robot; There is no need for inter-robot communication between the agricultural robots (R1, R2, Ri). Agricultural assembly characterized by:

10. 10. The agricultural assembly according to claim 9, wherein the width (Lz) of the working area (Z2, Z1, Zj) is equal to a multiple of the working width (Lr) of each exclusively assigned agricultural robot (R2, R1, Ri).

11. Agricultural assembly according to claim 9 for implementing the method according to any one of claims 1 to 8, for managing a fleet of robots (R1, R2, Ri) working on one plot (P).

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