Methods for adjusting and / or calibrating agricultural machinery

Abstract

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

Description

Technical Field

[0005] ,

[0001] The present invention relates to the field of agricultural machinery, and more particularly to an agricultural machine that can operate (cultivate, work) in an agricultural plot (parcel) in an autonomous manner, i.e., without operator assistance. It relates to an agricultural machine that works on the soil or plants in an agricultural plot by means of an agricultural machine. Such machines are generally called agricultural robots and are movable and drivable agricultural machines or hitches (attelage) equipped with at least one tool (integral, attached, semi-attached or towed) and means (control, communication, positioning, other means) that enable independent operation in an agricultural plot.

[0002] The subject of the present invention lies in the adjustment (reglage) and / or calibration (calibrage) method of an agricultural robot related thereto and the operation method of the robot.

Background Art

[0003] <00********>The above-mentioned agricultural robots can be used alone to work on one plot or as part of a group of at least two robots assigned to one plot*. Each robot can operate completely independently (recommended map, GPS, etc.), or can be remotely controlled by a central remote control system, for example, a group of robots (une flotte de robots). Each robot in the group of robots may or may not communicate with each other, and in some cases, is assigned to work on a predetermined part of one plot. [[ID=********]]

[0004] [[ID=********]] When using an autonomous agricultural machine to perform an agricultural operation or part of an operation in one plot, generally three main steps are essentially included, similar to the conventional agricultural operation process that is generally performed completely under the control of an operator, i.e., the agricultural operation process of a non-autonomous machine. .

[0005] *Note: There seems to be an error in the original text where "one plot" is repeated twice in the sentence starting from "The above-mentioned agricultural robots can be used alone to work on one plot or as part of a group of at least two robots assigned to one plot". The translation is presented as accurately as possible based on the provided text.The first step is performed by an operator who moves the agricultural robot and its tools to the farm plot to be processed, performs any necessary mounting or assembly work to enable the robot to perform its tasks, and positions it at the starting point of the route.

[0006] The second step involves adjusting (reglage) and / or calibrating the robot and its tools. That is, the operating parameters of the robot and its tools must be adjusted (set) to match as closely as possible the actual working conditions of the day and the characteristics of the area being worked on (humidity, temperature, wind, soil type and condition, density, soil state, type of plant being treated, type and intensity of agricultural work being performed, etc.). These parameters are... in front Because it cannot be adjusted, it is necessary to test and adjust it on-site through trial and error under actual conditions. Generally, multiple test cycles are required depending on the complexity of the adjustment and calibration and the number of related parameters, and in each test cycle, the robot is made to perform short-distance tasks in autonomous mode using the adjustment set.

[0007] At the end of this cycle or after repeating it, the operator verifies (visually inspects) whether the adjustments were made correctly according to the quality of the work performed. The visual inspection of the quality of the work performed can be done by the operator directly observing the agricultural plot or indirectly using at least one camera mounted on the robot and / or at least one tool. Images captured by the cameras can be analyzed by the operator using a portable monitoring device. If the quality of the work is deemed insufficient, a new test cycle is performed with the new settings, and if the quality of the work is deemed satisfactory, work on that agricultural plot is continued or resumed. This third step is performed in fully autonomous mode, and the robot performs agricultural work independently or guided by a remote control system, following a pre-set route, using the last verified setting conditions. [Overview of the project] [Problems that the invention aims to solve]

[0008] The primary objective of the present invention is to provide a solution that allows for the adjustment and / or calibration of at least one operating parameter of at least one agricultural robot in accordance with actual field conditions, more efficiently than current solutions, without using autonomous working modes in the adjustment and / or calibration steps, such as those in the prior art, particularly autonomous working modes that may involve repeated interruptions. [Means for solving the problem]

[0009] To achieve the above objective, the present invention relates to a method for adjusting and / or calibrating a mobile, driven agricultural machine or hitch (hereinafter referred to as an agricultural robot) equipped with at least one tool capable of autonomously working on a single plot, wherein, at the start of a work phase (work time) of a new agricultural plot, if the characteristics of the plot have changed significantly during autonomous work and / or the quality of work performed by the agricultural robot during autonomous work has deteriorated significantly, the robot is temporarily operated in "mode semi-autonom" when resuming an interrupted work phase in a particular agricultural plot that has already been partially worked on, in accordance with the request of the operator (5) or confirmation of the operator's request, and at that time, the robot is operated in "mode semi-autonom" when resuming an interrupted work phase in a particular agricultural plot that has already been partially worked on, and at that time, the next autonomous work time (phase) The method is characterized in that, after operator verification, the operator controls and adjusts at least one operating parameter of the robot and / or at least one tool by the operator, the robot, the tool, or a combination of these three, for the purpose of adjusting or calibrating the robot.

[0010] The present invention further relates to a method for operating an agricultural robot for working in an agricultural plot, incorporating the above-described adjustment and / or calibration method.

[0011] The present invention will be better understood from the following description of preferred embodiments with reference to the attached schematic diagrams, which are given as non-limiting examples. However, the present invention is not limited to the following embodiments. [Brief explanation of the drawing]

[0012] [Figure 1] A conceptual plan view of an agricultural plot showing the state in which the agricultural robot works in semi-automatic mode with the operator on the initial portion of the agricultural plot during the step of adjusting and / or calibrating at least one operating parameter according to the method of the present invention.

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

[0014] [Figure 3A] and

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

[0016] [Figure 4] A flowchart illustrating one embodiment of the method of the present invention. [Modes for carrying out the invention]

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

[0018] Figures 1 through 4 schematically or symbolically illustrate the process for adjusting and / or calibrating a mobile, driven agricultural machine or hitch (hereinafter referred to as agricultural robot (1)) equipped with at least one tool (2) that works autonomously in an agricultural plot (3).

[0019] A feature of the present invention is that, at the start of a work phase in a new agricultural plot, when resuming a work phase that was interrupted in a predetermined agricultural plot where work has already been partially performed, if there is a significant change in the characteristics of the agricultural plot during autonomous work, and / or if the quality of work performed by the agricultural robot (1) during autonomous work deteriorates significantly, the robot (1) is temporarily operated in semi-autonomous mode (mode semi-autonomé) when requested by the operator (5) or when the request of the operator (5) is verified, and at that time, at least one operating parameter of the robot (1) and / or at least one tool (2) is managed and adjusted (gere et ajuste) by the operator (5), robot (1), tool (2), or a combination of these three, after verification by the operator (5), for adjustment or calibration in the next autonomous work phase.

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

[0021] The above-mentioned operation parameters to be adjusted / calibrated are managed and adjusted by the operator, and other operation parameters (which are not changed at this stage) are managed by the robot in the same way as the autonomous operation mode. In other embodiments of the method of the present invention, when the robot manages and adjusts the above-mentioned related operation parameters, it is advantageous for the robot to also manage other operation parameters (which are not changed at this stage). However, in any case, the operator needs to verify the adjustment / calibration before switching to the autonomous work mode.

[0022] It is preferable that the part (3≡) of the agricultural area worked during the operation phase of the semi-autonomous mode is not worked again during the next autonomous work phase. That is, in the part of the agricultural area covered during this specific semi-autonomous operation phase ( 3' ) the work has already been carried out, and the area to be worked in the next autonomous operation mode is reduced by that amount, thus improving productivity.

[0023] At least one operation parameter of the agricultural robot (1) and / or at least one tool (2) managed and adjusted by the operator (5) or the robot (1) or a combination of these three during the semi-autonomous operation phase is preferably selected from the group consisting of generated power, moving speed, moving direction, route on the agricultural area (3), the configuration of the robot (1), and the position and / or direction and / or configuration and / or operation parameters of at least one tool (2).

[0024] Other operating parameters are controlled by the robot, similar to autonomous mode.

[0025] In the present invention, depending on the type of robot and / or the nature of the tools involved, at least two different operating parameters can be adjusted and / or calibrated during semi-autonomous operation mode, and management and adjustment can be performed simultaneously, independently, or individually in at least two consecutive phases. That is, for example, the operator can adjust the configuration of the tool (2) and the forward speed of the robot (1) simultaneously or consecutively.

[0026] In its simplest form, the semi-autonomous mode operation phase generally consists of only one operation cycle. During this phase, the robot (1) can cover part of one rang, all of a rang, or multiple rangs of a predefined route (4) with respect to the target agricultural plot (3).

[0027] However, in more complex situations, as a variation, the operating phase in semi-autonomous mode may include at least two consecutive cycles, during the second cycle and / or at least one of the subsequent cycles, the same operating parameters are calibrated and / or adjusted, and after each cycle a verification phase of the work performed by the agricultural robot (1) is performed.

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

[0029] It is advantageous to use the results of the operating parameters used during a work cycle in semi-autonomous mode as feedback when determining the operating parameters for the next cycle. This feedback data can be acquired by at least one sensor installed on the robot (1) and / or tool (2). Therefore, the operator can adjust the selection of operating parameters for the next cycle by taking the results of the previous cycle into consideration.

[0030] Depending on the type of task being performed, you can decide whether or not to return to the same area within the agricultural plot.

[0031] In a first modified embodiment of the present invention, for example in tillage work (travail du sol), in each of the consecutive different cycles of the semi-autonomous mode operation phase, the agricultural robot (1) tills the same portion of the plot as in the first cycle ( 3' ) moves along the same route (4), and (at the start of the course) the robot (1) changes its position autonomously or autonomously.

[0032] In a second modified embodiment of the present invention, for example, in a seeding (semis) operation, in each of the consecutive different cycles of the operation phase in semi-autonomous mode, the agricultural robot (1) operates on consecutive different parts of the agricultural plot. 3' The robot (1) moves and is positioned autonomously or non-autonomously (at the start of the next section of the course). (At the start of the route for a section).

[0033] After completing work in a designated agricultural plot, the method of the present invention utilizes the experience gained during the semi-autonomous operation phase, for example, for use in the following year, or to share the results of this experience in subsequent agricultural operations. To do this, the method saves the adjustment and / or calibration profile of a designated agricultural robot (1) at the end of the semi-autonomous operation phase, and, if necessary, after a short verification phase in autonomous operation mode, reuses it in similar situations and / or reuses it in at least one other agricultural robot (1) that is part of the same robot group as the designated agricultural robot (1) and is intended to work in the same agricultural plot. 'It is configured to send to ).

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

[0035] Depending on the parameters to be considered, it is certainly possible to perform at least some adjustments or calibrations manually. However, as the degree of electrification and automation of robotic agricultural machinery (1) increases, it is becoming possible for operators to remotely manage and adjust some, or even most, of the adjustable parameters. Under these conditions, a portable interface can be provided that can communicate with the agricultural robot (1) and thereby adjust and / or calibrate at least one parameter during the semi-autonomous mode operation phase. This interface can show the operator the operation to be performed, the parameter to be adjusted and / or calibrated, and the generation of a new operation phase in semi-autonomous mode. Such an interface (not shown, but for example, portable to the operator in [Figure 1] and [Figure 3A]) is advantageous in the form of a tablet (7) or smartphone, and it is possible to ensure the implementation of predefined protocols with improved ease of use through pre-programmed sequences and checklists.

[0036] By using the above-described interface means, the operator can continuously track the adjustment and / or calibration process and receive feedback from the cycle, in particular, before determining the parameter behavior for the next cycle. In this case, the interface means communicates directly or indirectly with sensors on the agricultural robot (1) and / or tool (2).

[0037] This feedback may include one or more types of information, such as digital values, images, or videos. This data can represent various information such as working depth, wear level of the work tool, ground conditions before and after the robot (1) passes, soil texture, robot type, ground, amount of residue, quality of work performed by the robot (1) and / or tool (2), compliance with thresholds or work instructions.

[0038] The above interface means can display information used to support the operator during the adjustment and / or calibration process. This information can show the operator various actions to be performed before, during, and / or after various operational phases and cycles. Using this information, the operator can... in front This not only ensures adherence to defined adjustment and / or calibration protocols, but also simplifies the overall use of the system.

[0039] To address unexpected events or adapt to changing conditions, the present invention provides a method for a given agricultural plot (3) and agricultural robot (1) to perform at least one semi-autonomous second operation phase after an autonomous operation phase, after an unintended interruption of the autonomous work phase or after a decline in the quality of work performed by the robot (1) is observed, thereby changing and / or calibrating the settings of at least one operation parameter based on a recommended map associated with the agricultural plot (3). Examples of such unexpected events include interruptions due to bad weather (changes in site conditions where work has already been partially performed), interruptions due to malfunctions or maintenance work, and large non-uniformities in the agricultural plot (where maintaining a consistent quality of work is required).

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

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

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

[0043] A key feature of this present invention is that the adjustment and / or calibration phases of the robot (1) and / or tool (2) are performed in a semi-autonomous mode, and this is comprised of the above-described process.

[0044] This feature of the present invention allows for the use of a pre-established recommended map (carte de preochcon The robot can use this to work in agricultural plot (3) and complete its route in agricultural plot (1). This recommended map may further include the location of at least one possible route segment corresponding to the adjustment and / or calibration phases of the robot (1) in its new semi-autonomous mode while working in agricultural plot (3) and after initial adjustments.

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

[0046] The present invention is shown in the accompanying drawings and is not limited to the embodiments described above. Modifications can be made without departing from the scope of protection of the present invention, particularly in terms of the configuration of various elements, or by substitution of technical equivalents.

Claims

1. A method for adjusting and / or calibrating a mobile and driven agricultural machine or hitch (hereinafter referred to as an agricultural robot) equipped with at least one tool (2) capable of autonomously working in an agricultural plot (3), When starting a work phase in a new agricultural plot, or when resuming a work phase that was interrupted in a predetermined agricultural plot that has already been partially worked on, if the characteristics of the agricultural plot have changed significantly during autonomous work and / or if the quality of work performed by the agricultural robot (1) during autonomous work has significantly deteriorated, the robot (1) will be temporarily operated in semi-autonomous mode after a request from the operator (5) or verification of the operator's (5) request, and at that time, at least one operating parameter of the robot (1) and / or at least one tool (2) will be managed and adjusted by the operator (5), the robot (1), the tool (2), or a combination of these three, after verification by the operator (5) in order to adjust or calibrate the next autonomous work phase. Depending on the type of tool (2), the characteristics of the agricultural plot (3), and / or the type of agricultural work to be performed, the length of the route (4) to be performed by the agricultural robot (1) in the semi-autonomous mode operation phase is determined. A method characterized by the following:

2. The method according to Claim 1, characterized in that the portion of the agricultural plot (3') that was worked on during the semi-autonomous mode operation phase is not to be worked on again during the next autonomous operation phase.

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

4. The method according to claim 1, characterized in that at least two different operating parameters are adjusted and / or calibrated during the semi-autonomous operating mode by simultaneously managing and adjusting at least two different operating parameters, or by independently managing and adjusting them in at least two consecutive phases.

5. The method according to Claim 1, characterized in that the operation phase in the semi-autonomous mode includes at least two consecutive cycles, the same operation parameters are adjusted and / or calibrated in the second cycle and / or subsequent cycles, and after each cycle there is a phase for verifying the work performed by the agricultural robot (1).

6. The method according to Claim 1, wherein the operation phase in semi-autonomous mode includes at least two consecutive cycles, wherein at least one of the second cycle and / or subsequent cycles is used to calibrate and / or adjust at least a second operation parameter different from that of the first cycle, and each cycle is followed by a verification phase for verifying the work performed by the agricultural robot (1).

7. The method according to Claim 1, characterized in that at the end of the operation phase in semi-autonomous mode, the adjustment and / or calibration profile of a predetermined agricultural robot (1) is saved, a short verification phase in autonomous operation mode is performed as necessary, and then the profile is reused in similar situations thereafter and / or transmitted to at least one other similar agricultural robot (1≡) that is to perform work in the same agricultural plot (3) which is part of the same robot group as the predetermined agricultural robot (1).

8. The method according to claim 1, characterized in that a portable interface means capable of communicating with an agricultural robot (1) is provided, enabling adjustment and / or calibration of at least one parameter during the operation phase in the semi-autonomous mode, and the interface can indicate to the operator the operation to be performed, the parameter to be adjusted and / or calibrated and the occurrence of the new operation phase in semi-autonomous mode.

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

10. A method for performing work in an agricultural plot (3) using at least one agricultural robot (1) capable of autonomously working in an agricultural plot (3), comprising a mobile and driven agricultural machine or combination thereof equipped with at least one tool (2), the machine having at least one phase of positioning the robot (1) under the control of an operator at the starting position of a work route in a predetermined agricultural plot (3), at least one phase of setting up and / or calibrating the agricultural robot (1) and, if applicable, its tool (2), and at least one autonomous work phase, A method characterized in that each of the above-mentioned phases of setting up and / or calibrating the agricultural robot (1) and / or tool (2) is performed in a semi-autonomous work mode by performing the method according to claim 1.

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