METHOD AND COMPLEX FOR PROCESSING A PLOTS USING AT LEAST TWO AGRICULTURAL ROBOTS

Claims

1. A method for processing a plot (P) using a group of at least two agricultural robots (R1, R2, ..., Ri) operating autonomously and independent of each other, each of which is equipped with at least one tool (O) located behind the direction of movement (AV), wherein the group operates under the control of a common central system (SC) for planning, monitoring and control, wherein the plot (P) contains at least one zone (ZF) of a marginal strip associated with and extending along at least part of the side of the main field (CP), wherein the method comprises a step in which, before the start of and, possibly, during the execution of work on the plot (P) and after preliminary evaluation and planning of work on the plot (P) in question, each robot (R1, R2, ..., Ri) is automatically and / or manually programmed with specified values, parameters and / or command sequences before the start of work on the plot (P), including, in particular, movement trajectories for each of the robots, wherein the method is characterized in that it comprises the steps of continuing and completing the current work on the main field (CP) in its current row (RA) for the corresponding robot (Ri), which is approaching the end of the row (RA) and which may find itself in a waiting situation, by bringing its tool or tools (O) to the end of the row (RA) and, consequently, to the corresponding part of the edge (EZ) of the main field (CP), and with an exit to the part (PF) of the edge strip adjacent to the said part of the edge (EZ), then performing a reverse movement on the main field (CP), at least until the robot (Ri) and its tool(s) (O) are again completely on the main field (CP), and leaving it in place until the conditions or cause of the waiting situation cease, after which its work on the plot (P) is resumed.

2. The method according to paragraph 1, characterized in that the realization of the conditions or the presence of a cause leading to a waiting situation for a given robot (Ri) is checked by the same robot (Ri) when it comes to the end of the row and approaches the adjacent part of the edge strip (PF), while the corresponding implementation by the said robot (Ri) of actions associated with the waiting situation that has arisen depends on the preliminary safety check carried out by the said robot (Ri).

3. The method according to paragraph 1 or 2, characterized in that the presence of a waiting situation for a given robot (Ri) is reported to it by the common central system (SC) for planning, control and management.

4. The method according to any one of paragraphs 1-3, characterized in that the reverse movement of the corresponding robot (Ri) occurs in the opposite direction along the same trajectory along which it followed to complete the work at the end of the current row (RA).

5. The method according to any one of paragraphs 1-3, characterized in that the reverse movement of the robot in question (Ri) occurs along a trajectory different from the trajectory taken to complete the work at the end of its current row (RA), preferably shifted laterally by at least the track width of the vehicle of said robot.

6. The method according to any one of paragraphs 1-5, characterized in that the said at least one tool (O) is switched off and, if necessary, raised during the reverse movement of the robot in question (Ri).

7. The method according to any one of paragraphs. 1-6, characterized in that the method comprises a stage in which, before the start of work on the plot (P) and, possibly, during work on the plot (P), the main field (CF) is divided into working zones (ZT1, ZT2, ..., ZTj) in the form of strips, at least one end of which, corresponding to a part of the edge (EZ) of the main field (CF), is continued by a part of the zone or zones (ZF) of the edge strip and each of which is allocated to one of the robots (R1, R2, ..., Ri) for processing by said robot in the longitudinal direction in one or more passes or rows, preferably, in at least one path in both directions.

8. The method according to any one of paragraphs 1-7, characterized in that it comprises a step in which, when the robot (Ri) in question also contains at least one tool (O') located in front, a reverse movement is carried out on the main field (CP), if necessary in the working zone (ZTj) in question, at least until the at least one tool (O') located in front is completely on the main field or in the zone (ZTj).

9. The method according to any one of paragraphs 1-8, characterized in that it comprises a step in which, during the programming of each robot (R1, R2, ..., Ri) with given values ​​and / or sequences of commands before the start of work on the plot (P), the characteristics of the reverse movements that can be performed in the context of the waiting situation are also determined for each robot, in particular, their scope and the type of their trajectory, namely the trajectory of the reverse movement, coinciding with or offset from the immediately preceding trajectory of the forward movement, implemented to complete the row (RA).

10. The method according to any one of paragraphs 1-9, characterized in that multiple conditions or possible causes of the waiting situation for a given robot (Ri) of the group are provided, associated, for example, both with the robot (Ri) in question itself and with the organization of the group, with the progress or state of processing of the plot (P) and / or with commands coming from the central system (SC) of planning, control and management or from the operator.

11. An agricultural complex for using the method of automated processing of agricultural plots (P) according to any of paragraphs.1-10, wherein the complex comprises a group of at least two mobile agricultural robots (R1, R2, ..., Ri) operating autonomously and independent of each other, each of which is equipped with at least one corresponding working tool (O) located behind relative to the direction of movement (AV), and a central common system (SC) for planning, monitoring and control, made with the possibility of evaluating and planning the work to be performed on the plot in question (P), and communicating with said robots to transmit specified values ​​and / or commands to them and, possibly, receiving information from them about the work and / or state of said robots (R1, R2, ..., Ri) before the start and, if necessary, during the processing of the plot in question (P), wherein each robot (R1, R2, ..., Ri) is additionally equipped with a localization device and, possibly, means for measuring its resource reserves and its autonomy depending on the current consumption and the estimated future consumption. Moreover, the complex differs in that each robot (R1, R2, …, Ri) is designed and programmed so that, when in a waiting situation, it carries out a given sequence of actions according to paragraphs 1-10.