Method for working a field, comprising a specified working area, by means of one or more movable and autonomously operating machines, in particular agricultural machines

Abstract

The invention relates to a method for working a field, which comprises a specified working area, by means of at least one movable and autonomously operating machine or vehicle, in particular an agricultural machine or vehicle, on the basis of defined working zones as sub-areas of the respective lot to be worked, having the following steps: - determining a maintenance zone for the machines and geographically defining said maintenance zone and carrying out a manually controlled, assisted, or automatic process of moving the machines into the maintenance zone and aligning same within the maintenance zone, an autonomous operating mode of an autonomous machine not being permitted within a maintenance zone; - determining the absence of persons, changing the maintenance zone into a control zone, and activating the autonomous operating mode of the autonomous machines; - starting at least one working mission and distributing the machines to the respective starting positions thereof within the respective allocated working zone and cancelling or deactivating the control zone; - completely working the respective working zones by means of the respective machine along defined paths, a dynamic safety zone which moves synchronously with the machine being created around each autonomous machine, said safety zone enclosing the respective machine, possibly being, to a specified extent, larger than or equal to the working width of the respective machine, of an attachment, or of a covering surface, and being off-limits to other machines; and - establishing a dynamic operational protection zone which moves synchronously with the machine, encloses the safety zone of the machine, and is larger than the safety zone to a specified extent, a spacing which is to be maintained peripherally being provided between the safety zone and the operational protection zone; and - in the event of failure or malfunction of at least one of the machines, determining a failure maintenance zone and a maintenance protection zone around the machine in question, the other machines which can continue the otherwise regular autonomous operation thereof being restricted from traveling over the failure maintenance zone and the maintenance protection zone; - ascertaining the position of a maintenance person, the autonomous operation of the machines being stopped when the maintenance person enters or travels over the working zone or control zone until the maintenance person has reached the failure maintenance zone of the machine in question or has moved away again; and - continuing the autonomous operation of the other machines as long as they do not reach or touch on the failure maintenance zone or maintenance protection zone. In order for the respective person to leave the maintenance zone, the autonomous operation is interrupted. The maintenance zone and the maintenance protection zone are then cancelled and the process of working the working zones is continued.

Description

[0001] Method for cultivating a field with a predetermined working area by one or more autonomously operating, mobile, especially agricultural, machines

[0002] Description

[0003] The invention relates to a method for cultivating a field with a predetermined cultivation area by one or more autonomously operating, movable, in particular agricultural, machines and / or vehicles on the basis of established cultivation zones as sub-areas of the respective field to be cultivated according to the preamble of claim 1.

[0004] From EP 3 334 972 Bl, a device for securing a safety zone of at least one autonomously operating machine is known. The device comprises an luminous marker of the safety zone and / or its boundary, a sensor monitoring device for detecting a breach of the safety zone, and a control device for controlling the machine. Furthermore, a unit is provided for defining the safety zone, controlling the shape and / or location of the luminous marker, and preventing the machine or the light source from operating depending on whether the monitoring device detects a breach of the safety zone.

[0005] The device further comprises a plurality of spatially resolved controllable light sources, each of which has an inactive and at least one active operating mode.

[0006] The operating mode of the light source is controllable via the control unit, and the illuminated marker is designed as at least one of the light sources in an active operating state. The device for securing hazardous areas according to EP 3 862 617 Bl comprises a distance-measuring optical sensor designed for object detection in a planar or spatial detection area. To secure the hazardous area, object monitoring is performed with the optical sensor within at least one predefined protective field. Object monitoring within the predefined protective field can be deactivated by means of a control signal.

[0007] Depending on the presence of an object in the danger zone, at least one new protective field is generated, within which the optical sensor continues object monitoring. The new protective field is deactivated for a predefined activation time and is reactivated for object monitoring after this time has elapsed.

[0008] A vehicle warning zone display is previously known from US Patent 2020 / 254925 A. This involves a vehicle connected to a light projector. A control system is configured to define a planned operating zone for the vehicle within a given environment. The control system is also designed to determine whether the planned operating zone lies within a threshold distance of an object in the environment. After a warning zone is defined, the light projector is activated and projects an image near the object. The projected display remains fixed relative to the object while the vehicle moves within the planned operating zone.

[0009] EP 3 828 584 B1 discloses a safety system for locating a moving machine, comprising a safety controller, at least one radio tracking system, and a position sensor. The radio tracking system includes stationary radio stations, with at least one radio transponder mounted on the moving machine. The radio tracking system is used to determine the machine's position data. The position data from the radio station or transponder of the radio tracking system is transmitted to the safety controller. The sensor allows for the determination of the moving machine's current position data. The safety controller is designed to compare the position data from the radio tracking system and the position data from the sensor, and, if they match, to derive verified position data.

[0010] Furthermore, an anti-collision and

[0011] Motion monitoring system based on multiple lidar devices in accordance with EP 3 853 635 A or EP 3 980 813 A.

[0012] The described known devices, methods and systems generally improve safety when using autonomously operating machines, especially vehicles.

[0013] In the following description, autonomous, mobile agricultural machines and autonomous agricultural vehicles, as well as implements and tools attached to autonomous, mobile agricultural machines and autonomous agricultural vehicles, are collectively referred to as autonomous machines.

[0014] The safety of people and property when autonomous machines are operating in fields is of paramount importance. Under no circumstances should people or property be endangered by autonomous machines performing field work such as planting, sowing, tending, and harvesting crops. People and other moving objects entering the safety zone of autonomous machines must, on the one hand, trigger a stop of the machine in question. On the other hand, interruptions in the processing of a given field or plot should be minimized. As is well known, harvesting operations require the processing of as large an area as possible and the harvesting of the crop within short, weather-dependent timeframes.

[0015] Based on the foregoing, the object of the invention is therefore to provide a further developed method for cultivating a field with a predetermined working area by one or more autonomously operating machines, particularly, but not exclusively, in the field of agricultural machinery and vehicles, which enables the creation and use of temporary and positionally changeable safety zones for persons and other moving objects during field cultivation. It is assumed that persons and moving objects entering a safety zone of autonomously operating agricultural machines trigger a machine stop to minimize hazards. This machine stop should only be temporary. Safety zones are to be defined by temporary areas.

[0016] These safety zones are therefore defined and established on the respective field for a limited time and are only temporarily effective, and must not be entered by the respective autonomous machine.

[0017] A temporary restriction is in place because, for the entire field to be worked, the affected zone must eventually be removed as a restricted area. Unworked sections should be avoided. The designated safety zones are repositionable and will be adapted to the specific conditions of the field, including the machine's entry and exit points, the location of the areas to be worked, etc.

[0018] The problem of the invention is solved by a method according to the teaching of claim 1, wherein the dependent claims contain at least expedient embodiments and further developments.

[0019] It is therefore assumed that a method for processing a field with a predetermined processing area is used by one or more autonomously operating machines based on established processing zones as sub-areas of the respective field being processed.

[0020] The use of previously known systems for processing large areas, especially agricultural fields, by autonomously operating agricultural machines or vehicles is currently not possible or only possible with considerable technical effort.

[0021] The safety of people and property when autonomous machines are operating and working in fields is of paramount importance and must be guaranteed in all situations. At the same time, autonomous machines must be highly available. As is well known, fieldwork, such as harvesting crops, is often confined to tight time windows. Therefore, prolonged interruptions to autonomous operation must be avoided.

[0022] The safety of an autonomous machine, as well as its high availability, must be guaranteed. An autonomous machine may have a safety device that is activated when a person is detected.

[0023] The procedure to be created according to the task should operate independently of any such safety device of an autonomous machine.

[0024] An autonomous machine has a manual operating mode and an autonomous operating mode. In manual mode, the autonomous machine is controlled by a person. In autonomous mode, the autonomous machine controls itself and operates autonomously.

[0025] Based on the above, it is therefore necessary to specify a procedure for executing or processing a work task for working in a field according to a given plan with the simultaneous use of several autonomous machines, which protects people, enables high availability of the autonomous machine and uses zones and checkpoints and operates independently of a safety device for person detection of an autonomous machine.

[0026] The method is used for operating a single autonomous machine or for operating multiple autonomous machines simultaneously. The number of autonomous machines that can be used simultaneously is neither predetermined nor limited.

[0027] In the context of agriculture, a field is also referred to as a plot.

[0028] An autonomous machine requires a work task to operate autonomously. A work task contains instructions for the autonomous machine. Examples of instructions include a path, a speed specification, or a description of a work process.

[0029] An autonomous machine operating autonomously follows a path. A path is also referred to as a lane, guide curve, or guidance line.

[0030] A virtual boundary separates an area to be edited from its surroundings. A virtual boundary is created from a closed polygon. A virtual boundary encloses an area.

[0031] An autonomous machine performs autonomous operations within an area defined by a virtual boundary. An autonomous machine is entirely within a virtual boundary. The respective autonomous machine detects a virtual boundary. An autonomous machine does not perform autonomous operations, or an autonomous machine stops autonomous operations, if no virtual boundary is present.

[0032] A virtual border is established through a technical measure. A method for establishing a virtual border is known and represents the state of the art. One example of a virtual border is a so-called virtual geographic fence (common term: geofence), which is established using a satellite signal (GNSS - global navigation satellite system).

[0033] The method according to the invention defines zones. A zone is formed by a closed geometric figure. A geometric figure is, for example, a closed polygon. Another example of a closed geometric figure is a rectangle or a circle.

[0034] There are stationary zones and machine-fixed zones. A stationary zone is immobile. A machine-fixed zone moves synchronously with an autonomous machine.

[0035] A zone boundary and a virtual boundary may coincide. A segment of a zone boundary and a segment of a virtual boundary may also coincide. It is advantageous for a stationary zone to be entirely within a virtual boundary. A machine-fixed zone may partially lie outside a virtual boundary.

[0036] A zone has attributes. These attributes include, for example, a zone type, permission to change a zone type during its lifecycle, an identification feature such as a number, the dimensions of a geometric figure or the vertices of a polygon, a distance to a reference point, such as a point in a coordinate system or a point on an autonomous machine, an assignment to an object such as an autonomous machine or a technical device that can be carried by a person, permission to enter a zone, permission for the autonomous operation of an autonomous machine, or a permissible number of autonomous machines in a zone. At least one attribute of a zone has a controlling effect on the autonomous operation of an autonomous machine.

[0037] A zone has a lifecycle and a lifetime. At the beginning of a lifecycle, a zone is created, and its lifetime begins. At the end of a lifecycle, a zone is deleted, and its lifetime ends. During its lifetime, a zone can be in an activated or deactivated state. In an activated state, a zone is detectable, for example, by an autonomous machine or technical device, interacts with an autonomous machine during autonomous operation, and interacts with other activated zones. In a deactivated state, a zone is not detectable, for example, by an autonomous machine or technical device, does not interact with an autonomous machine during autonomous operation, and does not interact with other activated zones.

[0038] Features and a lifecycle for a zone are advantageous for cultivating a field across its entire area, leaving no part untouched. Furthermore, features and a lifecycle are beneficial for ensuring human safety and high availability of an autonomous machine. High availability is achieved, for example, by preventing collisions between a first and second autonomous machine or by avoiding critical driving situations. A critical driving situation arises, for instance, when a first autonomous machine approaches a second autonomous machine and there is no way to evade it. In such a case, the first and second autonomous machines block each other.

[0039] According to the invention, a zone boundary is established by a technical measure. An autonomous machine detects the zone boundary. One embodiment of such a boundary, as explained, is a so-called virtual geographic fence, which is established using a satellite signal (GNSS - global navigation satellite system).

[0040] A field area to be cultivated is divided into one or more cultivation zones. A cultivation zone is stationary. It is advantageous if a cultivation zone along the path of an autonomous machine is at least as wide as, for example, the working width of an implement attached to that autonomous machine.

[0041] Dividing a work area into one or more processing zones is advantageous for planning and executing a work task. It is beneficial to adapt the number of processing zones, the dimensions of a processing zone, and the sequence of a work task to the number of simultaneously deployed autonomous machines, the size of the field area to be worked, the operating characteristics of an autonomous machine, and the working width of an implement attached to an autonomous machine.

[0042] A machining zone does not overlap with another machining zone. A machining zone is stationary. A machining zone is a fixed zone.

[0043] A work zone may contain an area that is not accessible to vehicles. An example of an area that is not accessible to vehicles is the base of a power line pylon.

[0044] It is advantageous to limit the number of autonomous machines that may simultaneously operate autonomously in a processing zone. It is advantageous to limit the permissible number to exactly one autonomous machine per processing zone. No person may be present in a processing zone when an autonomous machine is operating autonomously. It is advantageous, but not mandatory, for a processing zone to have a person detection device. An example of a person detection device is an electronic camera with image recognition software.

[0045] At least one control zone will be established. A control zone is a fixed location. Multiple control zones may be established.

[0046] A path for an autonomous machine begins and ends in a control zone. An autonomous machine's path can begin in a first control zone and end in a second control zone.

[0047] It is advantageous for a control zone in which a path begins or ends to be located at an access point to a field, adjacent to another field, or adjacent to a path or road.

[0048] A control zone is advantageously established on sections of a first path and a second path where, as a result of location-based planning of a first path and a second path, no collision protection is achieved between a first autonomous machine and a second autonomous machine when traveling on a first path or a second path.

[0049] For example, collision protection between a first autonomous machine and a second autonomous machine is not provided if a first path and a second path overlap or are separated by a distance less than the width of either the first or the second autonomous machine. Collision protection is achieved, for example, by maintaining a sufficiently large distance between a first path and a second path such that it is impossible for a first autonomous machine and a second autonomous machine to touch each other while simultaneously traversing a first or second path.

[0050] It is advantageous to establish a control zone at a section of a first path and at a section of a second path where a first path and a second path lie adjacent to or on top of each other, wherein a control zone completely covers a section of a first path and a section of a second path, and a control zone has a dimension such that a section of a first path and a section of a second path do not lie on a boundary of a control zone.

[0051] It is advantageous to establish a control zone at an intersection of a first path with a second path, wherein a control zone has a dimension such that a section of a first path and a section of a second path are covered by a control zone and an intersection of a first path with a second path does not lie on a boundary of a control zone.

[0052] An autonomous machine may be located within a control zone. An autonomous machine may be operated within a control zone. An autonomous machine may be in autonomous operation within a control zone. The operating mode of an autonomous machine, such as manual or autonomous mode, is not specified. No person may be present within a control zone.

[0053] A control zone is at least large enough to completely accommodate an autonomous machine. A control zone is large enough to completely accommodate a permissible number of autonomous machines.

[0054] At least one maintenance zone will be established. A maintenance zone is a stationary zone. An autonomous machine may be located in a maintenance zone. In a maintenance zone, for example, an autonomous machine is prepared before or after an operational deployment, or a person performs a task on an autonomous machine.

[0055] An autonomous machine may not start autonomous operation within a maintenance zone. An autonomous machine must stop autonomous operation within a maintenance zone. One person may be present in a maintenance zone. A maintenance zone protects a person from a hazard posed by an autonomous machine in autonomous operation. A maintenance zone is at least large enough to completely accommodate a permissible number of autonomous machines. It is advantageous for a maintenance zone to be large enough to allow a person to perform an activity within it and to have sufficient space to do so.

[0056] An autonomous machine in autonomous operation will stop if that autonomous machine is outside a maintenance zone and touches or crosses a boundary of a maintenance zone.

[0057] It is advantageous to establish a maintenance zone at an access point to a field, adjacent to another field, or adjacent to a path or road.

[0058] A maintenance zone can be established around a stopped autonomous machine. An autonomous machine is stopped, for example, by a human operator, by an external control device, or by the autonomous machine's own control device. An autonomous machine is stopped, for instance, if it malfunctions or for maintenance purposes.

[0059] A maintenance protection zone is established around the maintenance zone of a stopped autonomous machine. A maintenance protection zone is larger than a maintenance zone. A maintenance protection zone completely encloses a maintenance zone. It is advantageous for there to be a distance between a maintenance zone and a maintenance protection zone. The dimensions of this distance are not specified. The extent of a maintenance protection zone around an autonomous machine is not specified. It is advantageous to choose an extent large enough that a second autonomous machine stops upon touching a boundary of a maintenance protection zone around a first autonomous machine before the second autonomous machine touches a maintenance zone of the first autonomous machine.

[0060] A first autonomous machine stops autonomous operation if it enters a maintenance protection zone of a second autonomous machine. A first autonomous machine also stops autonomous operation if it is partially or completely within a maintenance protection zone of a second autonomous machine.

[0061] An autonomous machine may be controlled semi-automatically, regardless of the zone in which it is located. Semi-automatic control is an assistance function where a machine performs one or more tasks autonomously, and a person grants permission to proceed. The machine stops immediately if permission is no longer granted. An example of semi-automatic control is driving from one location to another, where the machine automatically determines the route and / or speed, and a person grants permission to drive, for example, via a remote control. Another example of semi-automatic control is the autonomous movement of multi-part work tools, for example, to prepare an autonomous machine for a task.

[0062] A zone can change from one zone type to another during its lifecycle. For example, a control zone can change to a maintenance zone, or vice versa; or a processing zone can change to a maintenance zone and back again. There is no predefined number of times a zone type can change.

[0063] In a first technical embodiment of the method according to the invention, a maintenance zone and a control zone are not located at the same place at the same time and do not overlap or superimpose.

[0064] In a second technical embodiment of the method according to the invention, a maintenance zone and a control zone can be located simultaneously in the same place, or they can overlap or superimpose. Features of a maintenance zone have a higher priority than features of a control zone.

[0065] A machine-fixed zone has a higher priority than a stationary zone. A machine-fixed zone overlaps a stationary zone. A maintenance zone, a maintenance protection zone, a control zone, a personnel protection zone, and a safety zone overlap or superimpose a processing zone.

[0066] An autonomous machine is surrounded by a safety zone. A safety zone completely encloses an autonomous machine. A safety zone moves synchronously with an autonomous machine; that is, a safety zone is permanently attached to an autonomous machine. A safety zone of an autonomous machine is always activated during autonomous operation. In a control zone where a path of an autonomous machine begins or ends, the safety zones of a first autonomous machine and a safety zone of a second autonomous machine may overlap.

[0067] A safety zone can include a coverage area that is covered by application agents when they exit an attachment of an autonomous machine. The size and shape of this coverage area are not specified. It is advantageous to adapt the size and shape of the coverage area to the dimensions of an attachment, the distribution characteristics of an application agent during application, the weather conditions during application, and / or the travel speed of an autonomous machine. An example of a coverage area is the area covered by a spray cloud when a liquid spray agent is dispensed.

[0068] A safety zone may have static or dynamic dimensions. A static safety zone dimension is independent of the travel speed of an autonomous machine. A static dimension takes into account the dimensions of an autonomous machine and its attachments. It is advantageous if a safety zone with a static dimension maintains a distance around the autonomous machine. The size of this distance is not specified.

[0069] A dynamic dimension takes into account the dimensions of an autonomous machine and its attachments. A dynamic dimension of a safety zone changes with the travel speed of an autonomous machine. It is advantageous if a safety zone with dynamic dimensions surrounds an autonomous machine and maintains a distance from it. The dimensions of a safety zone in the direction of travel of an autonomous machine are such that the distance from a safety zone boundary to the autonomous machine is equal to or greater than the stopping distance required to bring the autonomous machine to a complete stop. A dynamic dimension can account for different circumferential speeds of points on the inside and outside of a curve when the autonomous machine is cornering and can also consider the distance from a safety zone boundary to the autonomous machine.

[0070] It is advantageous that, in one direction of travel of an autonomous machine, the distance between a boundary of a safety zone and a point on the outside of a curve of an autonomous machine is greater than the distance between a boundary of a safety zone and a point on the inside of a curve of an autonomous machine.

[0071] A dynamic dimension of a safety zone may take into account the coverage area of ​​an application agent.

[0072] A first autonomous machine stops if its safety zone touches or penetrates a personnel safety zone, a maintenance safety zone, a maintenance zone, a virtual boundary or safety zone of a second autonomous machine, or an operational safety zone of a second autonomous machine.

[0073] A safety zone of an autonomous machine is surrounded by an operational protection zone. An operational protection zone completely encloses a safety zone. It is advantageous for an operational protection zone to maintain a continuous distance from the safety zone of an autonomous machine. An operational protection zone moves synchronously with an autonomous machine; that is, an operational protection zone is permanently connected to an autonomous machine. An operational protection zone can be activated or deactivated.

[0074] An operational protection zone can include a coverage area that is covered by application agents when they are released from an attachment of an autonomous machine. The size and shape of this coverage area are not specified. It is advantageous to adapt the size and shape of the coverage area to the dimensions of the attachment, the distribution characteristics of the application agent during application, the weather conditions during application, and the travel speed of the autonomous machine. An example of a coverage area is the area covered by a spray cloud when applying a liquid spray agent.

[0075] A safety zone can have static or dynamic dimensions. A static safety zone dimension is independent of the travel speed of an autonomous machine. A static dimension takes into account the dimensions of an autonomous machine and its attachments.

[0076] A dynamic dimensioning of an operational protection zone takes into account the dimensions of an autonomous machine and its attachments. The dynamic dimensioning of an operational protection zone changes with the travel speed of an autonomous machine. It is advantageous for an operational protection zone to be larger than the safety zone of an autonomous machine. The dimensions of an operational protection zone are designed such that the distance between a boundary of the operational protection zone and a boundary of the safety zone of an autonomous machine, in the direction of travel of the autonomous machine, is equal to or greater than the stopping distance required to bring an autonomous machine to a complete stop.

[0077] In dynamic dimensioning, for example, a distance between a boundary of an operational safety zone and a boundary of a safety zone is changed depending on a driving speed or a circumferential speed when cornering, whereby, viewed in the direction of travel, a larger distance is set at a higher driving speed or greater circumferential speed and a smaller distance at a lower driving speed or lesser circumferential speed.

[0078] No distance is specified for a non-directional distance between the boundary of an operational protection zone and the boundary of a safety zone. It is advantageous for a non-directional distance between the boundary of an operational protection zone and the boundary of a safety zone to have a value greater than zero.

[0079] A dynamic dimension can take into account different circumferential speeds of points inside and outside the curve of an autonomous machine during cornering and increase the distance of a boundary between an operational safety zone and a boundary of a safety zone of an autonomous machine at a high circumferential speed and decrease it at a lower circumferential speed.

[0080] It is advantageous that, in one direction of travel when an autonomous machine is cornering, the distance between a boundary of an operational safety zone and a boundary of a safety zone at an outer point of a boundary is greater than the distance between a boundary of an operational safety zone and a boundary of a safety zone at an inner point of a curve.

[0081] A dynamic dimension of an operational safety zone may take into account the coverage area of ​​an application agent.

[0082] A first autonomous machine slows down its speed when its operational protection zone touches or penetrates a personnel protection zone, a maintenance protection zone of a second autonomous machine, a maintenance zone, operational protection zone of a second autonomous machine, a safety zone of a second autonomous machine, or a virtual boundary.

[0083] A personal protection zone is established for a specific person, for example, a member of the operating personnel of an autonomous machine. A personal protection zone is created around a person. There is no prescribed size for a personal protection zone. However, a personal protection zone must be large enough to accommodate a person and any accompanying equipment. A personal protection zone is tied to a specific person and moves synchronously with that person. A personal protection zone can be created using a technical device. If a personal protection zone is located within a processing zone, the authorization for autonomous operation is revoked, and the autonomous machine stops operating autonomously.

[0084] If a personal protection zone is located within a control zone, authorization for autonomous operation is revoked. Without authorization, an autonomous machine operating autonomously within a control zone will stop.

[0085] It is advantageous to attach one or more control points to a path. Control points interact with a maintenance zone or a control zone. At a control point, an instruction is generated for an autonomous machine. A control point is attached to a path before the path leads into a maintenance zone or a control zone.

[0086] The distance between a checkpoint and a maintenance zone or control zone must be at least as great as the stopping distance required to bring an autonomous machine to a halt. It is advantageous if the distance between a checkpoint and a maintenance zone or control zone is greater than the stopping distance required to bring an autonomous machine to a halt.

[0087] A checkpoint generates a stop command for an autonomous machine if a path leads into a maintenance zone. A checkpoint also generates a release command or a stop command if a path leads into a control zone. Conditions for a release command or a stop command include, for example, a minimum number of autonomous machines in a control zone, a specific sequence for multiple autonomous machines entering a control zone, a time limit for an autonomous machine entering the zone, or waiting for another autonomous machine to pass.

[0088] A checkpoint can be attached to a path after it leads out of a maintenance zone or a control zone. A checkpoint generates a stop command if an autonomous machine re-enters a maintenance zone or a control zone against its intended direction of travel. A checkpoint does not generate a command if a control zone or a maintenance zone interacting with it does not yet exist, no longer exists, or is deactivated.

[0089] The method according to the invention is advantageously used for planning a work task in which more than one autonomous machine is to be operated. When planning a work task, the number of autonomous machines to be used is determined, the position of a virtual boundary is defined, the area to be processed is divided into several processing zones, one or more maintenance zones and their life cycle are defined, one or more control zones and their life cycle are defined, a work task is created for an autonomous machine, one or more control points are created along a path of an autonomous machine, and a schedule for the execution of a work task is created.

[0090] The method according to the invention is also advantageously used for executing a work task. For the execution of a work task, a previously created plan for this task is used. During the execution of a work task, a life cycle of a maintenance protection zone or a personnel protection zone is traversed depending on the situation. During the execution of a work task, a safety zone for an autonomous machine is established. During the execution of a work task, an operational protection zone of an autonomous machine is activated or deactivated depending on the situation. During the execution of a work task, a maintenance protection zone around an autonomous machine is established, activated, or deactivated depending on the situation.

[0091] The invention will be explained in more detail below using an exemplary embodiment and again below with the aid of figures.

[0092] A work process is described as an example. A work task has several steps. A work task is pre-planned. Pre-planning includes, for example, defining the field and its working area, the type and number of autonomous machines, the technical equipment of an autonomous machine, the work process to be carried out, a timeline, the paths of the machines, and the geographical arrangement of field areas for the establishment of maintenance zones, control zones, or working zones.

[0093] In the preliminary planning phase, at least one or more work tasks are defined for each autonomous machine. A work task includes, for example, the path, a timeline, and details of the work process. A virtual boundary is drawn around a field or an area to be processed. An area within a virtual boundary is divided into several processing zones. At least one maintenance zone is established. Multiple maintenance zones can also be established. The spatial arrangement of multiple maintenance zones relative to each other is not specified. Exactly one autonomous machine or several autonomous machines are deployed and aligned within a maintenance zone. During alignment, an autonomous machine is moved onto its assigned path and positioned so that it can follow this path when autonomous operation begins.

[0094] Provisioning and alignment can be performed manually, with assistance from an automated function, or automatically. Autonomous operation of the machines is not permitted in a maintenance zone. Tasks are performed on the machines. These tasks include, for example, preparing for operation or maintenance work. A task is performed by one or more people.

[0095] A maintenance zone is converted into a control zone when all personnel have left the maintenance zone and autonomous operation of one or all autonomous machines is to be initiated. Personnel are located outside the virtual boundary, within designated secure areas for personnel, or in another maintenance zone. Autonomous operation of one, several, or all autonomous machines begins. A safety zone and / or an operational control zone is established and / or activated around each autonomous machine. These operational control zones and / or safety zones dynamically adjust their size and distance from an autonomous machine depending on its speed and / or direction of travel (forward or reverse) and / or changes in direction when cornering. Each autonomous machine performs at least one task.In this system, an autonomous machine travels along a path that leads through one or more processing zones. Along this path, one or more control points are attached, at which the autonomous machine receives instructions. Control points are located, for example, before a control zone or a maintenance zone. This prevents collisions between two machines at points where paths are close together, where paths intersect, or where the direction of travel along two adjacent paths is opposite. Furthermore, the sequence of autonomous machines traveling along overlapping path sections of two or more paths is controlled by control points. Additionally, an autonomous machine operating autonomously is prevented from entering a maintenance zone and is stopped at a control point.At the end of at least one work task, an autonomous machine terminates its autonomous operation in a control zone. All autonomous machines can terminate their autonomous operation in exactly one control zone. Multiple control zones can also be established, each containing one or more autonomous machines that terminate their autonomous operation. The spatial arrangement of multiple control zones relative to each other is not prescribed. A control zone is converted into a maintenance zone when all autonomous machines whose paths end in that control zone are within it and have terminated their autonomous operation. Tasks, such as dismantling a machine, are performed by one or more people. A work task is completed.

[0096] In the event of a failure or malfunction of at least one of the autonomous machines, a maintenance zone and a maintenance protection zone are established around the affected machine, and entry into this maintenance zone and maintenance protection zone by other autonomous machines is prohibited. Other autonomous machines continue their autonomous operation until they enter a maintenance zone or a maintenance protection zone. A maintenance zone and a maintenance protection zone can also be established, for example, after an autonomous machine has been stopped for scheduled maintenance work.

[0097] If an autonomous machine requires maintenance or experiences a malfunction, it reports this to an administrative unit and stops its autonomous operation. A suitable data communication system, in particular a wireless connection, but also internet access, is used to report such maintenance or malfunctions.

[0098] Furthermore, a personal protection zone is established around each person detected by sensors, for example, someone working on a stopped autonomous machine and within a virtual boundary. The geographical position of this person and their personal protection zone are continuously determined. If a personal protection zone touches or overlaps a control zone or a processing zone, every autonomous machine within that processing zone or control zone stops its autonomous operation. The autonomous operation of these machines remains stopped until all persons have left the control zone or processing zone and their personal protection zone no longer touches or overlaps it.Further conditions for resuming autonomous operation of a stopped autonomous machine can include, for example, deactivating or deleting the maintenance zone and maintenance protection zone around the stopped autonomous machine, reporting the completion of maintenance or troubleshooting activities, or issuing a release. Deactivating or deleting a maintenance zone and maintenance protection zone established around a stopped autonomous machine is only possible if no person is detected within that zone. After resuming autonomous operation, the autonomous machine continues to perform its tasks.

[0099] In another design, the processing zone is divided into a series of subzones, whereby at least one person protection mode or a machine operation mode can be defined for each subzone, wherein in person protection mode autonomous machine operation within the subzone is prevented and in machine operation mode the presence of persons within the subzone is detected as impermissible.

[0100] In a further configuration, the processing zone is designed as an automation zone, whereby, via at least one subzone of the automation zone designed as a start / end area, autonomous machines are successively added to a swarm of machines active within the automation zone, or autonomous machines are withdrawn from the active swarm of machines.

[0101] The following examples demonstrate:

[0102] Fig. 1 shows an overview of the field;

[0103] Fig. 2 Start of the work process of the autonomously operating machines in a maintenance zone according to Fig. 1;

[0104] Fig. 3 three autonomous machines during the execution of a

[0105] Work tasks in the respective assigned processing zones;

[0106] Fig. 4 autonomous machines at the end of the execution of a

[0107] Work task;

[0108] Fig. 5a, b Control zones with two paths;

[0109] Fig. 6a, b Modes of operation of a safety and personal protection zone;

[0110] Fig. 7 Functioning of a person identification device;

[0111] Fig. 8a, b Operating principles of a maintenance zone and a maintenance protection zone;

[0112] Fig. 9a, b shows an illustration of how the security zones work;

[0113] Fig. 10a, b the interaction of safety and maintenance zones;

[0114] Fig. 11a, b, c, d Representations of safety and operational protection zones;

[0115] Fig. 12 shows an illustration of the assistance function; Figs. 13a, b show illustrations of the safety and operational protection zone of a machine and

[0116] Fig. 14a, b Illustrations for collision avoidance of moving machines.

[0117] Fig. 15 shows an exemplary machining zone as a

[0118] Automation zone;

[0119] Fig. 16a, b shows a subdivision of the automation zone into subzones and a setting of the subzones to a "Personal Protection" status;

[0120] Fig. 17a, b shows the setting of subzones in preparation for starting a processing mission;

[0121] Fig. 18a, b shows a state of the subzones for the introduction of a first autonomous machine;

[0122] Fig. 19a, b shows a state of the subzones for processing the automation zone by the first autonomous machine and for adding a second autonomous machine;

[0123] Fig. 20a, b States of the subzones for the start and commencement of processing by the second autonomous machine;

[0124] Fig. 21a, b States of the subzones for swarm processing by both autonomous machines;

[0125] Fig. 22a, b States of the subzones when an autonomous machine begins to be withdrawn from swarm processing;

[0126] Fig. 23a, b shows the removal of an autonomous machine from the automation zone; Fig. 24a, b shows the complete removal of all autonomous machines from the automation zone and the associated states of the subzones.

[0127] Figure 1 shows an exemplary field with a virtual boundary 1, processing boundary 2, an access road 11 for the autonomous machines and seven exemplary processing zones 3a to 3g.

[0128] Furthermore, three paths 20a, 20b, 20c, each with a direction of travel 21a, 21b, 21c, are shown as examples.

[0129] The field will be worked by three autonomous machines, with each machine working strips with a working width corresponding to the width of its working tools.

[0130] At the end of the field, the autonomous machine turns around in the so-called headland and begins working a strip again. During the turning maneuver in the headland, a work process can be continued or interrupted.

[0131] At the beginning or end of a work task, a headland is processed. The processing sequence depends on the specific task. The example shows a continuous headland. This continuous headland comprises processing zones 3d, 3e, 3f, and 3g.

[0132] Figure 2 now shows a field with a virtual boundary 1, a processing boundary 2 and three autonomously operating machines 12a, 12b, 12c at the beginning of a work task.

[0133] The autonomous machines 12a, 12b, 12c are located in a maintenance zone 6a at an access road 11 to a field.

[0134] Each of the autonomously operating machines 12a, 12b, 12c is assigned a path 20a, 20b, 20c.

[0135] Each path 20a, 20b, 20c has a direction of travel 21a, 21b, 21c for the respective autonomously operating machine 12a, 12b, 12c. Figure 3 shows three autonomously operating machines 12a, 12b, 12c during the execution of a work task.

[0136] A security zone 9a, 9b, 9c is activated around each machine 12a, 12b, 12c.

[0137] Figure 4 shows the situation at the end of a work task performed by three autonomous machines 12a, 12b, 12c.

[0138] The autonomous machines 12a, 12b, 12c are now in maintenance zone 6b.

[0139] Maintenance zone 6b is advantageously located at access road 11 to a field.

[0140] Figure 5a represents a control zone 5 with two paths 20a, 20b and directions of travel 21a, 21b for an autonomous machine.

[0141] According to Figure 5a, a control zone 5 is established in a section of the first path 20a and a section of the second path 20b and spans both paths 20a, 20b.

[0142] The first path 20a is located next to the second path 20b.

[0143] A first checkpoint 22a is located on the first path 20a in a first direction of travel 21a before a control zone 5.

[0144] A second checkpoint 22b is located on a second path 20b in the second direction of travel 21b in front of a control zone 5.

[0145] Figure 5b now shows a control zone 5 with two paths 20a and 20b and directions of travel 21a, 21b. According to Figure 5b, a control zone 5 is established above an intersection point of the first path 20a with the second path 20b.

[0146] A first checkpoint 22a is located on the first path 20a in the first direction of travel 21a before the control zone 5. A second checkpoint 22b is located on the second path 20b in the second direction of travel 21b before the control zone 5. Figure 6a serves as an exemplary illustration of the operation of a safety zone 9 of an autonomous machine 12 and of a personal protection zone 7 of a person 13.

[0147] According to Figure 6a, the autonomous machine 12 moves along the path 20 in the direction of travel 21 towards the person 13 with its surrounding personal protection zone 7.

[0148] According to Figure 6b, the autonomous machine 12 now recognizes the personal protection zone 7 and stops when its safety zone 9 touches the personal protection zone 7.

[0149] Figure 7 shows an example of how a person recognition device works 14.

[0150] The person detection device 14 monitors a processing zone 3. If a person 13 or a person protection zone 7 is detected by a person detection device 14, the autonomously operating machine 12 stops regardless of whether a safety zone 9 of the autonomous machine 12 touches or penetrates the person protection zone 7.

[0151] Figure 8a illustrates the operation of a maintenance zone 6, a maintenance protection zone 8 and a safety zone 9.

[0152] As shown in Figure 8a, an autonomous machine 12a is stopped. A maintenance zone 6 and a maintenance protection zone 8 are established around the autonomous machine 12a. The second autonomous machine 12b, with a safety zone 9, approaches the first autonomous machine 12a along path 20 with a direction of travel 21.

[0153] According to Figure 8b, the second autonomous machine 12b touches the maintenance protection zone 8 of a first autonomous machine 12a. This causes the second machine 12b to stop automatically.

[0154] Figure 9a illustrates the operation of a first safety zone 9a with a second safety zone 9b. The first safety zone 9a and the second safety zone 9b are built around the autonomously operating machines 12a and 12b, respectively.

[0155] According to Fig. 9a, the first autonomous machine 12a with an activated safety zone 9a travels on a first path 20a with a first direction of travel 21a towards the second autonomous machine 12b with its second activated safety zone 9b on the second path 20b with a second direction of travel 21b.

[0156] According to Figure 9b, the safety zone 9a of the first autonomous machine 12a touches the second safety zone 9b of the second autonomous machine 12b. The first autonomous machine 12a and the second autonomous machine 12b stop.

[0157] Figure 10 illustrates the operation of a safety zone 9 of an autonomous machine 12 with a maintenance zone 6.

[0158] According to Figure 10a, the autonomous machine 12 moves along a path 20 with a direction of travel 21 in the direction of a maintenance zone 6.

[0159] According to Figure 10b, the safety zone 9 of the autonomous machine 12 has touched a boundary of the maintenance zone 6 and is stopping.

[0160] Figure 11a shows an autonomous machine 12 with a safety zone 9 and an operational protection zone 10 in a first direction of travel 21 at a low speed and driving straight ahead.

[0161] According to Figure 11b, the autonomous machine 12 is shown with a safety zone 9 and an operational protection zone 10 in the first direction of travel 21 at a higher speed when traveling straight ahead. The operational protection zone 10 and / or the safety zone 9 are enlarged here.

[0162] Figure 11c shows the autonomous machine 12 with a safety zone 9 and an operational protection zone 10 in a first direction of travel 21 at a higher speed and while cornering. The safety zone 9 and the operational protection zone 10 are adjusted according to the cornering direction.

[0163] Figure 11d shows the autonomous machine 12 with a safety zone 9 and an operational protection zone 10 in a second direction of travel 21 (quasi reverse travel) at a low speed when traveling straight ahead.

[0164] Figure 12 shows how an assistance function works.

[0165] The autonomous machine 12 is parked at a starting location. The autonomous machine 12 is not on the first path 20a. An assistance function now specifies the second path 20b, so that the autonomous machine 12 travels from its starting location to the destination location 23.

[0166] Figure 13a shows a representation of an autonomous machine 12 with an operational protection zone 10 and a safety zone 9. The autonomous machine 12 moves in its direction of travel 21 towards a virtual boundary 24. The operational protection zone 10 touches this virtual boundary 24. The autonomous machine 12 reduces its speed.

[0167] According to Figure 13b, the machine now moves at a lower speed towards the virtual boundary 24. The safety zone 9 of the autonomous machine 12 touches this virtual boundary 24. The machine 12 now stops.

[0168] Figure 14a and Figure 14b now show the behavior of two autonomous machines 12a and 12b with their safety zones 9a and 9b as well as the operational protection zones 10a and 10b.

[0169] The first autonomous machine 12a moves on the first path 20a with a first direction of travel 21a.

[0170] The second autonomous machine 12b moves along the second path 20b in the direction of travel 21b. The first operational protection zone 10a of the first autonomous machine 12a touches the second operational protection zone 10b of the second autonomous machine 12b. The first and second machines 12a and 12b reduce their speed.

[0171] According to Figure 14b, the operational protection zone 10a of the first autonomous machine 12a touches the safety zone 9b of the second autonomous machine 12b. The first autonomous machine 12a further reduces its speed. The second autonomous machine 12b stops moving.

[0172] In addition to the possibility of launching a mission with all autonomous machines, i.e., with all units, there is also the possibility of integrating the intended field swarm units one after the other into an active mission.

[0173] This has the advantage that not all units need to be in the field at the start. In other words, mission work can begin with an incomplete swarm. While some units have started their tasks, additional autonomous machines can be transported to the field.

[0174] For this purpose, a start procedure is initiated. The goal of the start procedure is to start the units not simultaneously, but in sequence.

[0175] This startup procedure can be implemented using a zone concept. A distinction is made between two zones with different states: a machine operation zone and a personnel protection zone. The machine operation zone marks an area where autonomous operation of an autonomous machine is permitted. In the personnel protection zone, autonomous operation of autonomous machines is prohibited; only manual operation of the machine is possible here.

[0176] To bring the machines to a starting position, they are maneuvered there, e.g. via remote control in a manual working mode.

[0177] Meanwhile, the starting position is surrounded by a subzone designated as a "personnel protection zone." Autonomous operation is prohibited within this zone. During this time, the machine is prepared for autonomous operation. This includes, for example, positioning and alignment, as well as preparations for attachments. Once these necessary processes are completed, the maintenance personnel leave the secured area ("personnel protection zone"). The subzone can then be released for autonomous operation ("machine operation").

[0178] During machine operation, the machine leaves the subzone. Should path planning for another machine within the subzone begin, this subzone can be reverted to the "personnel protection zone" state. The process then starts again. This can be repeated until all necessary machines in the field have been switched to autonomous operation.

[0179] Similarly, in reverse order, machines can be gradually removed from the field after completing their respective tasks. The planned tracks of the machines end in designated subzones. The machine operates autonomously until the end of the mission. Subsequently, the subzone surrounding the endpoint is switched from "machine operation" mode to "personnel protection zone" mode. Maintenance personnel can then enter the subzone, and autonomous operation is prohibited. The machine can then be dismantled and manually removed from the field.

[0180] Once the machine has been removed from the field and no maintenance personnel are present in the subzone, the subzone is switched to "machine operation" mode and can then receive the next machine.

[0181] Figures 15 to 24b illustrate an exemplary process of such a subsequent integration of autonomous machines into and out of a field swarm.

[0182] Fig. 15 shows a processing zone in the form of an exemplary automation zone. A field with a processing boundary 2 is shown. An automation zone 30 is assigned to the field, within which the autonomous machines move. The automation zone is usually the outermost zone and must not be violated—even partially—by the units in autonomous mode. Within the automation zone, the corresponding travel paths and lanes for the autonomous machines are defined and predefined as described above.

[0183] Automation zone 30 has an access road 11 through which the autonomous machines intended for use are brought into the field. The planned routes for the automation zone are only indicated in Fig. 15 and are not crucial for the following explanations. For details regarding these routes, please refer to the preceding sections. However, such an access road is not strictly necessary; at least, it is not an absolute prerequisite for the procedure described below. The starting point of the track lines can, for example, also begin without an access road at the appropriate distance from the field boundary.

[0184] Figure 16a shows an example of the subdivision of automation zone 30 into a series of subzones 30a to 30k. For each of the subzones 30a to 30k, it is operationally defined whether or not people are permitted to be in the respective subzone. In particular, the access area 11 is assigned its own subzone as a start / end area 31. This start / end area 31 corresponds specifically to the aforementioned maintenance zones. However, the start / end area is not merely a maintenance zone. This status can change for the start / end area, as for all other subzones. The start and end areas do not necessarily have to be the same. This function can also be distributed across several subzones.

[0185] It is also possible to distribute multiple start areas, multiple end areas, or combined start / end areas across the field.

[0186] Autonomous machines can be moved into or out of automation zone 30 via the start / end area. Start / end area 31 also defines the subzone where autonomous machines are added to or removed from the automation zone. Each autonomous machine begins its field operation from this area and returns to it after completing its field mission. The swarm of autonomous machines within the automation zone is thus supplied with additional machines or thinned out as needed via start / end area 31.

[0187] The mode for each of the subzones 30a to 30k and for the start / end area 31 switches between a personnel protection mode (P) and a machine operation mode (M) during the following description. In personnel protection mode (P), people are permitted to be in the respective subzone, but the autonomous operation of machines is prohibited for safety reasons. Only manual operation of the machines is possible in this mode. If an autonomous machine is encountered in a subzone with personnel protection mode (P), its operation is stopped, or entry into the corresponding subzone by autonomous machines is prevented from the outset.

[0188] In machine operation mode M, however, the presence of persons in the respective subzone is prohibited. Persons entering a subzone assigned to machine operation mode M can be alerted to this unauthorized entry. This can be done, for example, by a signaling device carried by the person or by warning devices on the autonomous machines themselves located within the subzone.

[0189] If people are detected in a machine operation zone, machine operation in that zone can also be reset. The system then switches to personnel protection mode.

[0190] Monitoring of the respective subzones can be carried out in various ways. This can be done in the manner already indicated above, i.e., for example, by a camera system with person detection and / or machine detection.

[0191] For the sake of brevity, the following description of the corresponding processes will refer to the personnel protection mode as P-mode and the mode for autonomous machine operation as M-mode. In the figures, P-mode is denoted by the reference symbol P and M-mode by the reference symbol M.

[0192] Initially, when no autonomous machine is present in the automation zone, all subzones and the start / end area 31 are in P-mode, as shown in Fig. 16b. The entire field can therefore be accessed by people, and the entry of autonomous machines into any of these areas is prohibited and, if necessary, technically prevented.

[0193] Figures 17a and 17b show the setting of subzones in preparation for starting a processing mission. For this purpose, all subzones on automation zone 30, with the exception of the start / end area 31, are set to M-mode, thus prohibiting access for personnel. The start / end area 31 remains in P-mode. Subsequently, an autonomous machine 12a is manually moved into the start / end area 31 from the outside. P-mode allows personnel access, so that, as shown in Figure 17b, the autonomous machine 12a can be upgraded in the start / end area 31.

[0194] Figures 18a and 18b show the subzone state for the entry of a first autonomous machine 12a. After the autonomous machine 12 has been set up within the start / end area 31, it is ready for autonomous operation in automation zone 30. The start / end area 31 is now switched from P mode to M mode. No persons are now permitted in the start / end area 31, and the autonomous machine 12a can begin autonomous operation. In Figures 18a and 18b, the autonomous mode is indicated by the reference symbol 12a A for the autonomous machine 12a. As shown in Figure 18b, it now leaves the start / end area 31 and moves into the adjacent subzone. Since all subzones of Automation Zone 30 are in M-mode, the entire Automation Zone 30 is also accessible to the autonomous machine 12a, allowing the autonomous machine 12a to carry out its mission throughout Automation Zone 30.It is possible, in principle, to switch each of the existing subzones individually from M-mode to P-mode to allow personnel access. This might be necessary, for example, in the event of unscheduled repairs or maintenance work due to a malfunction of the autonomous machine 12a. In such a case, the autonomous machine 12a is switched from an autonomous state to a non-autonomous state, allowing the necessary work to be carried out on the machine 12a.

[0195] The division of automation zone 30 into subzones with different P and M modes allows for a gradual increase or decrease in the swarm of autonomous machines active in automation zone 30.

[0196] Figures 19a and 19b show the state of the subzones for processing the automation zone by the first autonomous machine 12a and for adding a second autonomous machine 12b. As a first step, the start / end area 31 is again set to P-mode. This means that people can enter the start / end area, but the autonomous operation of autonomous machines, especially machine 12a, is prohibited there. However, autonomous machine 12a continues its autonomous operation in all other subzones that are in M-mode.

[0197] In the start / end area 31, personnel located there can now upgrade a second machine 12b for autonomous operation. While the autonomous machine 12a operates completely independently in automation zone 30, the second machine 12b can now be released from the start / end area 31 into the rest of automation zone 30.

[0198] Figures 20a and 20b show the states of the subzones for the start and commencement of processing by the second autonomous machine. The start / end area 31 is switched from P mode to M mode, machine 12b is set to autonomous operation (reference 12b A) and now autonomously leaves the start / end area 31. As a result of this process, two autonomous machines 12a and 12b are located in the automation area 30, and a processing swarm of two autonomous machines now autonomously processes the corresponding field area. This state is illustrated in Figures 21a and 21b, where both machines 12a and 12b are labeled with reference numerals 12a A and 12b A.

[0199] It is clear that the procedures shown in Figures 19a, 19b, 20a, and 20b allow for the addition of further autonomous machines to the existing processing swarm. This addition can occur with a precisely defined time offset, which is easily defined, for example, when one of the autonomously operating machines 12a or 12b enters or leaves a specific subzone of automation zone 30 in a particular direction. Likewise, the individual subzones also allow for configurations that prevent collisions between the individual autonomous machines and ensure sufficient spacing between them, also with regard to efficient and effective field processing.For example, it can be stipulated that the autonomous machines 12a and 12b may never be within the same subzone, so that machine 12b can only enter a subzone if machine 12a has already entered and left this subzone.

[0200] This also allows a predefined sequence of both autonomous machines to be secured and maintained, if necessary. Accordingly, more than two autonomous machines within a swarm can also be controlled in this way.

[0201] However, it is not absolutely necessary to adhere to a specific sequence, for example, for leaving the field. Should a machine experience malfunctions during processing, it is quite practical for another autonomous machine to be able to overtake it in the "removal sequence" after processing is complete.

[0202] Leaving and withdrawing an autonomous machine from automation area 30 is of course also possible. Figures 22a and 22b show the states of the subzones when an autonomous machine begins to be withdrawn from swarm processing.

[0203] The extraction and removal of an autonomous machine takes place at the start / end area 31. As shown in Fig. 22a, the start / end area 31 is set to M-mode for this purpose. If this area is already in M-mode, it remains in that mode. In the present example, the autonomous machine 12a enters the start / end area 31 in autonomous mode and stops there. The start / end area is then set to P-mode. The autonomous machine 12a ends its autonomous mode, and personnel are once again permitted to enter the start / end area 31.

[0204] The autonomous machine 12a can now be dismantled. Subsequently, the autonomous machine is removed from the start / end area 31 and thus also from the automation area 30 as a whole. The autonomous machine 12b continues its autonomous operating mode and thus fieldwork, as indicated by the reference sign 12b A.

[0205] These steps are repeated as shown in Figures 23a, 23b, and 24a when the autonomous machine 12b is withdrawn: If necessary, the start / end area is set to M-mode, the autonomous machine 12b is moved into the start / end area 31, the start / end area 31 is set to P-mode, the autonomous operating mode of machine 12b is terminated, machine 12b is dismantled by personnel, and the machine 12b is removed from the automation area 30 entirely. These steps can be repeated any number of times if a swarm of any number of autonomous machines needs to be removed from the automation area. Likewise, the steps for adding autonomous machines can be performed any number of times. Thus, the composition of the swarm of autonomous machines present in the field, i.e., the automation area 30, can be successively influenced or changed.

[0206] It is clear that multiple start / end regions can be provided, and that these can be designed such that only autonomous machines, or only autonomous machines of a specific type, can be added or removed via a particular start / end region, or that one start / end region is used only for adding and another only for removing. The process steps and procedures described here should then be applied accordingly. It is also possible, of course, to have start / end regions where autonomous machines can be both added and removed, as well as explicit start regions where machines are only added, and explicit end regions where autonomous machines are only removed.

[0207] Fig. 24b shows the final state of automation area 30 with all its subzones after all autonomous machines have been withdrawn and removed. Access to automation area 30 for personnel is now permitted again. Accordingly, all subzones of automation area 30 have been reset to P-mode. This state is indicated in Fig. 24b by the circled reference symbol P.

Claims

Claims 1. Method for cultivating a field with a predetermined cultivation area by at least one autonomously operating, mobile, in particular agricultural, machine or vehicle on the basis of established cultivation zones as sub-areas of the respective field to be cultivated, characterized by the following steps: - Determining a maintenance zone for the machines and geographically defining this maintenance zone, manually controlled, assisted or automatic entry of the machines and alignment within the maintenance zone, whereby autonomous operation of an autonomous machine is not permitted within a maintenance zone - Detecting the absence of people, changing the maintenance zone to a control zone, and activating the autonomous operation of the autonomous machines. - Starting at least one processing mission and distributing the machines to their respective starting positions within the assigned processing zone and deleting or deactivating the control zone; - Processing of the respective working zones by the respective machine along defined paths, whereby a dynamic safety zone is placed around each autonomous machine, moving synchronously with the machine, which surrounds the respective machine, can be larger than or equal to the working width of the respective machine, an attachment or a covering area and is blocked to other machines; - Establish a dynamic operating protection zone that moves synchronously with the machine, enclosing the machine's safety zone and being larger than the safety zone to the specified extent, whereby a distance must be maintained all around between the safety zone and the operating protection zone. - In the event of a failure or malfunction of at least one of the machines, define a failure maintenance zone and maintenance protection zone around the machine in question, whereby entry into this failure maintenance zone and maintenance protection zone by other machines that would otherwise be in operation is prohibited. able to continue regular autonomous operation, is blocked; - Determining the position of a maintenance person, whereby upon entering or driving into the processing zone or control zone, the autonomous operation of the machines is stopped until the maintenance person has reached the breakdown / maintenance zone of the machine in question or has moved away; - Continue autonomous operation of the other machines as long as they do not reach or touch the breakdown maintenance zone or maintenance protection zone, whereby to leave the maintenance zone by the respective person an interruption of the autonomous operation and then a lifting of the maintenance zone and the maintenance protection zone and continuation of the processing of the processing zones.

2. Method according to claim 1, characterized by: - Setting up maintenance zones where the autonomous operation of an autonomous machine stops. - Determining the position of the maintenance zone, wherein this maintenance zone is a stationary maintenance zone or a maintenance zone around a stopped autonomous machine and a safety zone of another autonomous machine, wherein the autonomous operation of this autonomous machine is stopped if the safety zone touches one of the maintenance zones.

3. Method according to claim 1 or 2, characterized by: - Setting up or activating one or more control zones along the paths of autonomous machines and arranging one or more control points on the paths, each in front of a control zone, wherein a control point and a control zone interact, thereby preventing mutual blocking or collision of these machines in autonomous operation or allowing a sequence of the machines to be controlled.

4. Method according to one of the preceding claims, characterized by: - Setting up or activating maintenance zones along a path of an autonomous machine and arranging one or more Checkpoints along this path are located before each maintenance zone, with the autonomous operation of this autonomous machine stopping at a checkpoint. - Establishing a personal protection zone around a person, whereby the person or a technical device carried by that person is detected by means of sensors and this personal protection zone is recognized by other technical devices or an autonomous machine, whereby when a person is detected in a processing zone, the autonomous operation of an autonomous machine in this processing zone is stopped.

5. Method according to claim 1, characterized in that after completion of at least one work task, at least one control zone is defined and the respective machines are moved into it.

6. Method according to one of the preceding claims, characterized in that a machine to be serviced is registered with an administration facility and the autonomous operation is stopped.

7. Method according to one of the preceding claims, characterized in that, upon detection of a person within a processing zone or a control zone, all autonomous machines within these zones automatically stop their autonomous operation.

8. Method according to one of the preceding claims, characterized in that deactivation of a maintenance zone is only possible if no person is detected in this maintenance zone.

9. Method according to one of the preceding claims, characterized in that A static and a dynamic safety distance are established around each machine in the sense of an extended safety zone, whereby the dynamic safety distance is changed or adjusted depending on the speed.

10. Method according to claim 9, characterized in that changes in direction of travel due to cornering or changes of direction are taken into account when determining the extended safety zone.

11. Method according to claim 9 or 10, characterized in that the respective safety zone is surrounded by an operational protection zone, which may have static or dynamic dimensions, wherein the distance between the respective safety zone and the operational protection zone surrounding it is adapted to the stopping distance of the respective machine.

12. Use of a method according to one or more of the preceding claims for planning the cultivation of a field with a predetermined cultivation area by at least one autonomously operating, mobile agricultural machine or vehicle on the basis of established cultivation zones as sub-areas of the respective field to be cultivated.

13. Method according to one of claims 1 to 11, characterized in that one or more properties of a zone, which is a control zone or a maintenance zone or a processing zone, are changed, wherein at least one property has a controlling effect on a respective autonomous machine in autonomous operation.

14. Method according to claim 13, characterized in that control points are arranged along a path, wherein a control point is located in front of a maintenance zone or a control zone and a control point has a controlling effect on a respective autonomous machine in autonomous operation.

15. Method according to one of the preceding claims, characterized in that the processing zone is divided into a series of subzones, wherein at least one person protection mode P or a mode for machine operation M can be defined for each subzone, wherein in person protection mode P an autonomous Machine operation within the subzone is prevented, and in machine operation mode M, the presence of persons within the subzone is detected as impermissible.

16. Method according to one of the preceding claims, characterized in that the processing zone is designed as an automation zone, wherein, via at least one subzone of the automation zone designed as a start and / or end area, a successive addition of autonomous machines to a swarm of machines active within the automation zone or a withdrawal of autonomous machines from the active swarm of machines is carried out.

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