Method for monitoring the jamming of a crop treatment tool mounted on an autonomous agricultural machine

Abstract

The invention relates to a method for monitoring the jamming of at least one treatment tool (13) for crops (20), mounted on an autonomous agricultural machine (10) comprising motorized advancement means (12) allowing it to advance in a so-called advancement direction, the method being characterized in that it comprises: - a step of monitoring an operational variable of the machine, representative of the advancement of the machine; - a step of comparing the operational variable with a predetermined threshold corresponding to the operational variable; - a step of determining a state of congestion / decongestion of the at least one treatment tool (13), the at least one treatment tool being said to be in a congested state when the operational variable is higher than or, depending on the type of operational variable, lower than said predetermined threshold, at an isolated moment in time or over a predetermined period of time; and, if not, is said to be in a decongested state.

Description

[0001] Description

[0002] Title: Method for monitoring clogging of a crop treatment tool mounted on an autonomous agricultural machine

[0003] TECHNICAL FIELD OF THE INVENTION

[0004] [1] The field of the invention is that of agriculture, and more particularly the processing of agricultural crops by an autonomous agricultural machine.

[0005] [2] More specifically, the invention relates to a method for monitoring the clogging of a crop treatment tool, mounted on an autonomous agricultural machine.

[0006] [3] The invention also relates to an autonomous agricultural machine configured to implement such a process.

[0007] [4] The invention finds particular applications in the treatment of agricultural crops, for example cereal, vegetable or wine crops, by an autonomous agricultural machine equipped with at least one tool for treating these crops, in particular a mechanical treatment tool that may become clogged during its use.

[0008] STATE OF THE ART

[0009] [5] It is known from the prior art of techniques for treating crops by autonomous agricultural machinery, which may be equipped with at least one crop treatment tool, for example a mechanical treatment tool intended for working the soil and / or crops.

[0010] [6] These treatment tools are generally mounted on the machine and pushed or pulled by it, the machine following a predefined trajectory as part of an autonomous agricultural crop treatment mission, for example in an agricultural plot.

[0011] [7] During normal operation of the machine, the spraying tools may become clogged, for example, by a mass of vegetation, branches, or other obstacles that become lodged in the spraying tools. It may also be due to a spraying tool whose working height is incorrectly set or out of adjustment. [8] This results in a slowdown in the machine's operation, or even a complete blockage of its forward movement. Furthermore, crops being treated may be damaged by a clogged spraying tool.

[0012] [9] In the known technique, external supervision, in particular human supervision, is necessary to detect such a blockage, and if necessary to clear or unblock the processing tool.

[0013]

[0010] However, it would be desirable to carry out such detection of the obstruction of the processing tool autonomously by the machine, without requiring external intervention and in particular without requiring human intervention.

[0014]

[0011] In addition, it would be desirable to unclog or clear the processing tool autonomously when such a clog occurs, without requiring external intervention and in particular without requiring human intervention.

[0015] DESCRIPTION OF THE INVENTION

[0016]

[0012] The present invention aims to remedy all or part of the disadvantages of the prior art mentioned above.

[0017]

[0013] To this end, the invention relates to a method for monitoring the clogging of at least one crop treatment tool, mounted on an autonomous agricultural machine comprising motorized means enabling it to move forward in a so-called direction of advance, the method comprising:

[0018] - a monitoring step of an operational variable of the machine, representative of the progress of the machine;

[0019] - a step of comparing the operational variable with a predetermined threshold corresponding to the operational variable;

[0020] - a step of determining a state of congestion / decongestion of at least one processing tool, the at least one processing tool being said to be in a congested state when the operational variable is above or, depending on the type of operational variable, below said predetermined threshold, either occasionally or over a predetermined time period; and said to be in a decongested state otherwise.

[0021]

[0014] Thanks to these provisions, the obstruction or jamming of the processing tool can be detected by monitoring operational variables representative of the machine's progress.

[0015] An operational variable of the machine is defined as a variable directly representative of the machine's operation and, in this case, in particular, of its progress.

[0022]

[0016] Furthermore, the operational variable of the machine is, as such, independent of the presence or absence of at least one tool, that is to say, it can be determined from operating data of the machine only.

[0023]

[0017] Preferably, the operational variable of the vehicle representing its advancement is chosen from a variable of the vehicle's forward speed or a variable directly linked to the operational vehicle's forward speed, or a variable representing the operation of the motorized advancement means.

[0024]

[0018] For example, the variable directly related to the speed of advancement of the operational vehicle is a travel time by the vehicle over a given distance (expressed in time per unit distance).

[0025]

[0019] For example, the speed of advancement of the craft can be determined directly from data obtained via a geolocation module of the craft, for example of the type of satellite positioning system, called GNSS (Global Navigation Satellite System in English terminology), such as the GPS (Global Positioning System in English terminology) system for example.

[0026]

[0020] For example, the forward speed of the vehicle can be determined directly from data obtained via an instantaneous or quasi-instantaneous speed sensor of the vehicle, for example a radar sensor of the vehicle.

[0027]

[0021] In addition, or as an alternative, for example, the operational variable of the machine representing its forward movement is a variable representing the operation of the motorized means of advancement, in particular an input quantity of the motorized means of advancement, such as an energy consumption variable, in particular electrical power or electrical current consumed by the motorized means of advancement, in particular instantaneously, and / or an output quantity of the motorized means of advancement, such as a rotational speed of the motorized means of advancement, and / or a combined input and output variable of the motorized means of advancement, such as an efficiency of the motorized means of advancement.

[0022] In particular, a theoretical forward speed of the machine can be deduced, indirectly, from the rotational speed of the motorized means of advancement.

[0028]

[0023] The method makes it possible to take advantage of the monitoring of operational variables, which may also already be monitored to meet other operational, supervisory or maintenance needs of the machine, to deduce a cluttered or uncluttered state of the processing tool.

[0029]

[0024] The type of operational variable monitored may depend in particular on the characteristics of the vehicle, and several operational variables may also be monitored in parallel with each other.

[0030]

[0025] The operational variable is compared to a corresponding threshold, of the same type as the monitored operational variable.

[0031]

[0026] Comparing this variable to a threshold allows detection of a state of congestion of the processing tool, if this threshold is exceeded or, on the contrary, if the variable falls below it, depending on the type of operational variable being monitored.

[0032]

[0027] This results in a particularly simple and convenient method which allows the state of obstruction or jamming of the processing tool to be detected directly by the machine and in an autonomous manner.

[0033]

[0028] In addition, the method for detecting a blockage or jamming of the processing tool by the effect produced on the machine and in particular on the advancement of the machine, it follows that the method is safer and more reliable for detecting such a blockage or jamming.

[0034]

[0029] It is noted that, in the process, several operational variables of the machine, in particular of different types, can be monitored and compared to corresponding thresholds, simultaneously or not. The comparisons of the operational variables to the corresponding thresholds can be taken into account in the step of determining a state of congestion / uncongestion of at least one processing tool, for example either in the form of a cumulative condition (serial redundancy of the type "AND") or in the form of an alternative condition (parallel redundancy of the type "OR").

[0035]

[0030] Other particularly advantageous embodiments of the process are described below.

[0036]

[0031] The operational variable may correspond to a travel time of a first distance predetermined by the machine, the predetermined threshold may be a maximum travel time of said first distance predetermined by the machine, and, in the step of determining the state of congestion / uncongestion, at least one processing tool is said to be in a congested state when said travel time is greater than said maximum travel time, and said to be in an uncongested state otherwise.

[0037]

[0032] This type of operational variable is particularly suitable for implementation in an autonomous agricultural robot for inter-row treatment of low crops, especially vegetables or plants.

[0038]

[0033] The machine can be configured to move forward in the direction of travel according to a forward speed setpoint, said maximum travel time of the first predetermined distance can be determined by the ratio between said first predetermined distance and the forward speed setpoint affected by a reduction coefficient, preferably approximately equal to 0.6.

[0039]

[0034] The step of monitoring at least one operational variable of the vehicle may include recording the travel time in a sampled manner according to a sampling distance step, the step corresponding to said first predetermined distance.

[0040]

[0035] The operational variable can be an operating variable of the motorized advance means, and the predetermined threshold can be an operating instruction of the motorized advance means or a maximum value of an operating variable of the motorized advance means.

[0041]

[0036] The operational variable can be an electrical power consumed by the motorized advance means, the predetermined threshold can be a maximum electrical power, and, in the step of determining the state of congestion / uncongestion, at least one processing tool is said to be in a congested state when the electrical power consumption of the motorized advance means is greater than said maximum electrical power, for a first predetermined duration, corresponding to a period of electrical overconsumption of the motorized advance means; and said to be in an uncongested state otherwise.

[0042]

[0037] This type of operational variable is particularly suitable for implementation in an autonomous agricultural robot for inter-row treatment of tall or short crops, especially vines, or in an autonomous straddle agricultural robot for low crops, especially vegetables or other plant crops.

[0038] In the step of determining the congestion / unclogging state, at least one treatment tool can be said to be in a congested state when at least a predetermined number of periods of excessive electrical consumption are detected over a second predetermined distance traveled by the machine.

[0043]

[0039] The motorized advance means can be configured to be operated according to a rotation speed setpoint, the operational variable can be a rotation speed of the motorized advance means, and the predetermined threshold can be a rotation speed threshold corresponding to the rotation speed setpoint affected by a coefficient less than or equal to 1, and, in the step of determining the clutter / unclutter state, at least one processing tool is said to be in a cluttered state when the rotation speed of the motorized advance means is less than said rotation speed threshold, for a second predetermined duration; and said to be in an uncluttered state otherwise.

[0044]

[0040] This type of operational variable is particularly suitable for implementation in an autonomous straddling agricultural robot for tall or short crops, especially vines.

[0045]

[0041] The coefficient can be equal to 1, and the step of determining the state of congestion / uncongestion can further include a check of the value of the rotation speed setpoint, at least one processing tool is said to be in a congested state when, in addition, the rotation speed setpoint is non-zero; and said to be in an uncongestioned state otherwise.

[0046]

[0042] The method may further include a step of activating a jam alert for at least one processing tool when at least one processing tool is determined to be in a clogged state, and a step of deactivating the jam alert when the machine travels a third predetermined distance after the jam alert was activated.

[0047]

[0043] The at least one processing tool can be configured to admit at least one so-called working position and one so-called rest position; the method may further include a dejawing sequence for the at least one processing tool, comprising:

[0048] - a step of passing at least one processing tool into its resting position

[0049] - a step of advancing the vehicle by a fourth predetermined distance, according to the direction of advancement;

[0050] - a step of moving at least one tool into its working position; the unclogging sequence being started when, during the step of determining a state of obstruction / unclogging, it is determined that at least one processing tool is in a clogged state.

[0051]

[0044] The method may further include counting the number of occurrences of the jam state of at least one processing tool, and a step of determining a jamming / unjamming state of the machine, the machine being said to be in a jammed state when the number of jamming occurrences is greater than or equal to a predetermined jamming occurrence threshold, preferably over a fifth predetermined travel distance, and said to be in an unjammed state otherwise, and the unjamming sequence may further include, when the machine is determined to be in a jammed state, a step of reversing the machine a sixth predetermined distance against the direction of travel, after the step of passing the at least one processing tool into its rest position and before the travel step.

[0052]

[0045] The unblocking sequence may further include a step of stopping the advance of the machine, before the step of passing at least one processing tool into its rest position, and a step of resuming the advance of the machine, after the step of passing at least one processing tool into its working position.

[0053]

[0046] The invention also relates, according to a second aspect, to an autonomous agricultural machine, comprising motorized means of advancement enabling it to advance in a direction called advancement and at least one crop treatment tool configured to admit at least one position called working and one position called rest, the machine being configured to implement the process as described above.

[0054]

[0047] According to an advantageous embodiment, the autonomous agricultural machine is of the type autonomous agricultural robot straddling tall crops, in particular vines, or low crops, in particular vegetable or cereal crops, or of the type autonomous agricultural robot for inter-row treatment of tall or low crops.

[0055] BRIEF DESCRIPTION OF THE FIGURES

[0048] Other advantages, purposes and particular features of the present invention will become apparent from the following non-limiting description of at least one particular embodiment of the devices and methods of the present invention, with reference to the accompanying drawings, in which:

[0056] - Figure 1 and Figure 2 schematically represent an autonomous agricultural machine equipped with crop treatment tools, respectively shown in a working position and in a resting position;

[0057] - Figure 3 is a block diagram of a method for monitoring the clogging of a crop processing tool;

[0058] - Figure 4 is a block diagram of a deboiling sequence of the process shown in Figure 3.

[0059] DETAILED DESCRIPTION OF THE INVENTION

[0060]

[0049] The present description is given by way of non-limiting grammar, each feature of an embodiment being able to be advantageously combined with any other feature of any other embodiment.

[0061]

[0050] It should be noted from the outset that the figures are not necessarily to scale.

[0062]

[0051] Figures 1 and 2 illustrate very schematically an autonomous agricultural machine 10, configured for the treatment of agricultural crops 20.

[0063]

[0052] This may, for example, be relatively tall agricultural crops, such as vines or hedges or shrubs, or relatively low crops, such as vegetable or cereal crops, as shown in Figures 1 and 2.

[0064]

[0053] Crops of this type are generally arranged in more or less straight rows.

[0065]

[0054] The machine 10 can be of the straddle type, i.e. be equipped with a straddle chassis designed to pass over the rows of crops to be treated, or be of the simple type, in which case the machine 10 is designed for inter-row treatment of crops.

[0066]

[0055] The device 10 is in particular of the autonomous type, that is to say that it is designed to follow a trajectory autonomously, and to carry out a mission of treating crops essentially without human intervention.

[0067]

[0056] Such a device 10 is sometimes also called a robot.

[0057] The device 10 comprises a chassis 11 on which motorized advancement means 12 are mounted, enabling the device 10 to advance in a direction of advancement (symbolized by an arrow in Figures 1 and 2).

[0068]

[0058] These means of advancement 12 can be controlled by a control module 15 which is included in the vehicle 10.

[0069]

[0059] In the illustrated example, the means of advancement 12 include wheels, but could however also include tracks or any other suitable means of movement, which are connected to at least one axle driven by one or more motors, preferably electric.

[0070]

[0060] The means of advancement 12 allow the machine 10 to advance in the direction of advancement, and possibly in a direction opposite to the direction of advancement where appropriate, along a straight or curved line.

[0071]

[0061] The vehicle 10 can be equipped with directional advancement means 12, i.e., means that can be turned to modify the trajectory of the vehicle 10. In addition or as an alternative, the modification of the trajectory of the vehicle 10 can be achieved by a speed differential of opposing advancement means 12 on the vehicle 10.

[0072]

[0062] The machine 10 further comprises one or more crop treatment tools 13, here several treatment tools 13, mounted directly or indirectly to the frame 11 by means of a tool carrier 14 attached to the frame 11.

[0073]

[0063] The processing tool(s) 13 can be mounted at the front of the machine 10, to be pushed, and / or be mounted at the rear of the machine 10, to be pulled, and / or be mounted in a central position on the machine 10.

[0074]

[0064] The processing tool(s) 13 may be motorized or not.

[0075]

[0065] For example, the treatment tool(s) 13 may include, but not limited to, hoeing tools, and / or seed drill, and / or inter-row cultivator, and / or weeding finger (for example of Kress type, registered trademark), and / or clod-breaking disc, and / or notched discs, and / or brush, and / or rigid tines, and / or tine harrow, and / or opener share, and / or firebreak.

[0076]

[0066] In an operational phase of crop treatment by the machine 10, the treatment tool(s) 13 are configured to be positioned in a so-called working position, illustrated in Figure 1.

[0067] In such a working position, the treatment tool(s) 13 can be configured in particular to make surface contact with the crops or to make contact with the soil on the surface or underground.

[0077]

[0068] In certain configurations, the processing tools 13 may not be in contact with the soil or crops, but may be located slightly above the ground, for example in the case of a sowing operation.

[0078]

[0069] The working position, in particular the working height of the processing tools 13, can be adjusted as needed.

[0079]

[0070] The processing tool(s) 13 can also adopt a so-called resting position, in particular outside of the operational phases of crop treatment, for example during the interruption of these or before and after the completion of a crop treatment mission.

[0080]

[0071] Figure 2 illustrates the machine 10 with its processing tools 13 in the rest position, in which the latter are at a distance from the ground and crops, and can in particular be raised relative to the working configuration.

[0081]

[0072] By default, during an operational phase of crop treatment and under normal operating conditions of the machine 10, the treatment tool(s) 13 are clear and allow the crop treatment to be carried out correctly.

[0082]

[0073] Regardless of the type of processing tool 13, these may nevertheless become clogged when using the machine 10.

[0083]

[0074] The obstruction of a treatment tool 13 may, for example, be due to vegetation, such as weeds, branches, or even uprooted crops, stuck or piled up in the treatment tool 13, or it may be due to an incorrect setting of the working depth of the treatment tool 13 in its working position, in particular a setting that is too deep.

[0084]

[0075] In such a situation, the processing tool 13, and therefore the machine 10, is said to be in a jammed situation.

[0085]

[0076] The obstruction, or jamming, of the processing tool(s) 13 results in the machine 10 generally being prevented from advancing, or at least greatly slowed down in doing so.

[0086]

[0077] In the operational phase of crop treatment, the machine 10, which is autonomous, follows a predefined trajectory according to a trajectory tracking instruction which can be received in real time or periodically from a remote terminal, or can be pre-recorded in a storage memory of the control module 15 of the machine 10.

[0087]

[0078] The device 10 may include a geolocation module (not shown), for example of the type of satellite positioning system, known as GNSS (Global Navigation Satellite System in English terminology), such as the GPS (Global Positioning System in English terminology) for example, or of any other type, allowing the device 10 to determine its position and adjust its trajectory, if necessary.

[0088]

[0079] In addition, the device 10 is configured to record one or more operational variables, in particular representative of its progress, during its operation.

[0089]

[0080] By way of non-limitation, the operational variable may be an instantaneous or average forward speed of the machine, a forward speed, i.e. the time to travel a given distance, instantaneous or average of the machine, a rotation speed of the means of advancement, an electrical power consumed by the means of advancement, etc.

[0090]

[0081] These variables can be taken directly, for example at the level of equipment controllers of the machine 10, such as at the level of an electric motor controller, or can be determined by calculation by the control module 15.

[0091]

[0082] Monitoring at least one such operational variable, and comparing it with a corresponding reference value, can make it possible to detect a congestion of the processing tool(s) 13.

[0092]

[0083] Corrective measures, aimed at clearing or unclogging the processing tool(s) 13, can then be implemented as appropriate.

[0093]

[0084] Figure 3 is a block diagram of a method 100 for monitoring the clogging of the processing tool(s) 13.

[0094]

[0085] Such a method 100 is preferably implemented only when the machine 10 is in an operational phase of treating crops in a working row, preferably by advancing along a trajectory.

[0095]

[0086] The method 100 can be implemented by the machine 10, for example within the control module 15 which then includes computer processing means configured to implement the method 100, or remotely from the machine 10 by a terminal receiving the reading of at least one operational variable from the machine 10.

[0087] The method 100 includes a step 110 of monitoring an operational variable of the machine, representative of the progress of the machine.

[0096]

[0088] Monitoring may include the measurement, and / or recording, and / or calculation of the operational variable, by dedicated measuring means or by the control module 15.

[0097]

[0089] This monitoring can be carried out intermittently, or continuously or quasi-continuously.

[0098]

[0090] Continuous monitoring means monitoring that can also be periodic at short intervals, for example according to a monitoring frequency of the operational variable corresponding to an operating frequency of the measuring means and / or a computer processing frequency of the control module 15.

[0099]

[0091] Intermittent monitoring means that values ​​of the operational variable can be measured, and / or recorded, and / or calculated at regular or non-regular intervals, for example predefined according to a time step or a distance step traveled by the device 10.

[0100]

[0092] The process 100 includes a step 120 of comparing the operational variable with a predetermined threshold corresponding to the operational variable.

[0101]

[0093] The comparison step 120 can be carried out continuously or intermittently, after monitoring the operational variable.

[0102]

[0094] The process 100 further includes a step 130 of determining a state of obstruction / unobstruction of the processing tool(s) 13.

[0103]

[0095] During step 130, it is checked whether the operational variable is greater than or, depending on the operational variable, less than the predetermined threshold, either at a specific point in time or over a predetermined time period.

[0104]

[0096] In particular, when the operational variable is monitored intermittently, the processing tool 13 is said to be in a congested state when the operational variable is above or, depending on the operational variable, below the predetermined threshold.

[0105]

[0097] In other words, when the operational variable is monitored intermittently, for example by taking a reading, and its comparison with the threshold indicates a temporary exceedance of the threshold, or vice versa as the case may be, it is deduced that the processing tool 13 is overloaded.

[0098] In particular, when the operational variable is monitored continuously, the processing tool 13 is said to be in a overloaded state when the operational variable is above or, depending on the operational variable, below said predetermined threshold, over a predetermined time period.

[0106]

[0099] In other words, when the operational variable is continuously monitored, and its comparison with the threshold indicates an exceedance, or the opposite as appropriate, for a sufficiently significant period, it is deduced that the processing tool 13 is overloaded.

[0107]

[0100] Put another way, exceeding the threshold, or the reverse as appropriate, for a brief moment is not sufficient to consider that the processing tool 13 is clogged.

[0108]

[0101] The predetermined time period can be adjusted as needed, and range for example from a few seconds to a few tens of seconds.

[0109]

[0102] Otherwise, when none of these situations occur, regardless of the type of monitoring carried out, the processing tool 13 is said to be in an uncluttered state.

[0110]

[0103] Steps 110 to 130 can be executed in a loop during an operational phase of the device 10, continuously or intermittently.

[0111]

[0104] According to a first example, the operational variable is the travel time of a first distance predetermined by the device 10.

[0112]

[0105] This is therefore an operational variable which is monitored intermittently, each time the device 10 travels the first predetermined distance.

[0113]

[0106] The first predetermined distance can be on the order of a few centimeters, for example 10 centimeters.

[0114]

[0107] In particular, the first predetermined distance can correspond to a sampling distance step, according to which the speed of the device 10 is recorded in a sampled manner.

[0115]

[0108] The monitoring carried out during step 110 may here include the continuous or quasi-continuous recording of the position of the device 10 accompanied by a time data entry for each position, for example by means of a GPS-type geolocation module, and the calculation of the travel time between two position recording points that are separated by the first predetermined distance.

[0109] The travel time of this first predetermined distance is, during the comparison step 120, compared to a predetermined threshold corresponding to a maximum travel time of the first predetermined distance by the device 10.

[0116]

[0110] This threshold can in particular be calculated from a set speed of the device 10, which may be part of the trajectory following instruction received by the device 10.

[0117]

[0111] The maximum travel time can be defined as corresponding to the first predetermined distance divided by the set speed, the set speed being able to be affected by a reduction coefficient.

[0118]

[0112] For example, the reduction coefficient is between 0.4 and 0.8, and is for example of the order of 0.6.

[0119]

[0113] In other words, the maximum travel time can correspond to a setpoint travel time plus approximately two-thirds.

[0120]

[0114] According to another variant, the maximum travel time can also be defined directly and independently of the set speed.

[0121]

[0115] During step 130, it is determined that the processing tool 13 is in a congested state when the travel time is greater than the maximum travel time, which is for example defined as above.

[0122]

[0116] Otherwise, the processing tool 13 is determined to be in an uncluttered state.

[0123]

[0117] According to a second example, the operational variable is a variable of the operation of the motorized means of advancement.

[0124]

[0118] Such an operational variable is monitored continuously or quasi-continuously during monitoring step 110.

[0125]

[0119] For example, the operational variable can be taken directly at the level of a controller of motorized means of advancement.

[0126]

[0120] As described above, monitoring can be considered quasi-continuous when it is carried out at a high frequency of measurement, reading, or calculation, conditioned by an operating frequency of measuring means or the control module, which may in particular be digital.

[0121] The predetermined threshold, against which the operational variable is compared in the comparison step 120, is here an operating setpoint or a maximum value of an operating variable of the advance means 12.

[0127]

[0122] For example, the operational variable is an electrical power consumed by the motorized means of advancement.

[0128]

[0123] The predetermined threshold can be a maximum value of an operating variable, corresponding to a maximum electrical power consumed by the motorized advance means 12.

[0129]

[0124] In step 130, it is determined that the processing tool 13 is in a clogged state when the electrical power consumption by the advancement means 12 is greater than the maximum electrical power, for a first predetermined period.

[0130]

[0125] For example, the first predetermined duration is between a few seconds and a few tens of seconds, and can be about 3 seconds.

[0131]

[0126] Exceeding this threshold over such a predetermined period corresponds to a period of overconsumption of electricity by the motorized means of advancement 12.

[0132]

[0127] If the electrical power consumption by the advancement means 12 is less than the maximum electrical power, or greater than the maximum electrical power but for a period less than the first predetermined period, the processing tool 13 is said to be in an uncluttered state.

[0133]

[0128] According to one variant, the comparison step 130 may further include counting a number of exceedances of the predetermined threshold, over a second predetermined distance, travelled by the device 10.

[0134]

[0129] For example, the processing tool 13 is said to be in a congested state only when a minimum number of periods of electrical overconsumption, for example ranging from 2 to 10, are detected over the second predetermined distance, traveled by the device 10.

[0135]

[0130] For example, the second predetermined distance, travelled by the device 10, may correspond to approximately 10 meters.

[0136]

[0131] In other words, when a single period of overconsumption is detected, or when a plurality of periods of overconsumption are detected but separated by a distance greater than the second predetermined distance, the processing tool 13 is not considered to be congested, but uncongested.

[0137]

[0132] According to another example, the operational variable is a rotation speed of the motorized advance means 12.

[0138]

[0133] In particular, the rotation speed can be the rotation speed of the motor(s) operating the means of advancement 12, which can for example include wheels or tracks driven by the motor(s).

[0139]

[0134] The motorized advance means 12 are configured to be operated according to a rotation speed command, which can for example be determined by the control module 15 as a function of a forward speed command received directly by the machine 10 or calculated by the machine 10 from a trajectory following command received by it.

[0140]

[0135] During the monitoring step 110, the rotation speed of the advance means 12 is recorded, for example by means of an advance means controller 12. This recording can be carried out continuously or quasi-continuously.

[0141]

[0136] During the comparison step 120, the rotation speed is compared to a predetermined threshold corresponding to the rotation speed setpoint multiplied by a coefficient less than or equal to 1.

[0142]

[0137] During step 130, the processing tool 13 is determined to be in a clogged state when the rotation speed is below the rotation speed threshold, for a second predetermined duration.

[0143]

[0138] Otherwise, the processing tool 13 is said to be in an uncluttered state.

[0144]

[0139] According to one variant, the coefficient assigned to the rotation speed setpoint is equal to 1, that is to say that the speed threshold corresponds to the rotation speed setpoint.

[0145]

[0140] Step 130 may then further include checking whether the rotation speed setpoint is non-zero.

[0146]

[0141] In particular, when the rotation speed is zero, and the rotation speed setpoint is non-zero, it is determined that the processing tool 13 is clogged.

[0147]

[0142] The first and second examples, as well as their variants, described above, can be combined, i.e. several different operational variables can be monitored in process 100. Thus, the determination of the clogged or unclogged state of the processing tools 13 can depend on the result of comparing several operational variables at corresponding thresholds.

[0148]

[0143] In addition, the method 100 may include a step 140 of activating a jam alert for the processing tool 13, when it is determined that the latter is in a jammed state.

[0149]

[0144] The alert can for example be issued by the control module 15 to a remote terminal, and / or be recorded in a non-volatile storage memory of the control module 15.

[0150]

[0145] The method 100 may also include a step 150 of deactivating the jam alert, when the machine 10 travels a third predetermined distance after the jam alert was activated.

[0151]

[0146] The third predetermined distance can be substantially equal to 1 meter.

[0152]

[0147] In particular, the deactivation of the jam alert may correspond to the determination that the processing tool 13 is again in an unclogged state.

[0153]

[0148] Furthermore, the process 100 may include a dejamming sequence 160 of the processing tool 13, illustrated in more detail in Figure 4, and comprising the following steps:

[0154]

[0149] - A step 162 of passing the processing tool 13 into its resting position.

[0155]

[0150] In particular, this step may include raising the treatment tool(s) 13 so that they are no longer in contact with the soil and / or crops.

[0156]

[0151] The resting position can correspond to an intermediate position between an extreme lowered position and an extreme raised position, depending on the desired lifting height.

[0157]

[0152] The resting position can for example be expressed as a percentage of the raised position.

[0158]

[0153] In some variants, step 162 may be preceded by a step 161 of stopping the advancement of the machine 10.

[0159]

[0154] In other variants, step 162 is carried out while the device 10 is in motion.

[0155] - A step 164 of advancing the device 10 a fourth predetermined distance, according to the direction of advancement.

[0160]

[0156] For example, the fourth predetermined distance is about 1 meter.

[0161]

[0157] - A step 166 of passing the processing tool 13 into its working position.

[0162]

[0158] In particular, this step may include lowering the processing tool(s) 13 so that they are in contact with the soil and / or crops, or even being driven into the soil.

[0163]

[0159] The working position can correspond to an intermediate position between an extreme lowered position and an extreme raised position, depending on the desired working height.

[0164]

[0160] The working position can for example be expressed as a percentage of the raised position.

[0165]

[0161] In certain variants, when the machine 10 stops before step 102, step 166 can also be preceded by a step 165 of stopping the advancement of the machine 10, and be followed by a step 167 of resuming the advancement of the machine 10.

[0166]

[0162] This unclogging sequence 160 is started when, during step 130 of determining a blockage / unclogging state, it is determined that at least one processing tool 13 is in a clogged state. Alternatively, the unclogging sequence 160 may start following the triggering of an alert in step 140.

[0167]

[0163] In other words, the operational phase of crop treatment by the machine 10 is interrupted when at least one treatment tool 13 is determined to be in a clogged state, the unclogging sequence is started and executed, after which the operational phase is resumed.

[0168]

[0164] The method 100 may also include counting the number of occurrences of detected congestion state, and a step 170 of determining a blocking / unblocking state of the gear 10.

[0169]

[0165] The device 10 is said to be in a blocked state when the number of congestion occurrences is greater than or equal to a predetermined congestion occurrence threshold.

[0170]

[0166] For example, the threshold for occurrences of congestion is 2.

[0171]

[0167] Otherwise, when the number of congestion occurrences is below this threshold, the device 10 is said to be in an unblocked state.

[0168] Step 170 may also include counting the number of congestion occurrences over a predetermined fifth distance traveled by the device 10.

[0172]

[0169] For example, the fifth predetermined distance is about 10 meters.

[0173]

[0170] The unblocking sequence 160 can then include a step 163 of reversing the machine 10 by a predetermined sixth distance against the direction of travel, carried out after step 162 of passing at least one processing tool 13 into its rest position and before step 164 of travel, step 163 being executed when the machine 10 is determined to be in a blocked state.

[0174]

[0171] For example, the sixth predetermined recoil distance is about 50 centimeters.

[0175]

[0172] Such a step 163 of retreat makes it possible for example to clear a mass of vegetation, branches, etc., which would be stuck in the processing tools 13 and whose passage into rest position alone would not have allowed the clearing.

[0176]

[0173] Advantageously, in order to be able to implement such a step 163, the machine 10 has means of advancement 12 configured to advance the machine 10 also against the main direction of advancement, in other words in reverse.

[0177]

[0174] In summary, the process 100 allows for monitoring the jamming of at least one processing tool 13, including the detection of a jammed state of the latter, but may also include corrective measures aimed at clearing the jammed at least one processing tool.

[0178]

[0175] It follows that the machine 10 can carry out a crop treatment mission autonomously, and respond autonomously to an incident causing an obstruction of the treatment tools 13, which can lead to the blocking of the machine 10.

[0179]

[0176] It is specified that the examples of monitored operational variables given above are not limiting and that any other type of operational variable representative of the advancement of the vehicle may be chosen, the process being adapted accordingly.

[0180]

[0177] Furthermore, it should be noted that the method may include monitoring several operational variables in parallel, for example, all or some of the operational variables given as examples in this description, the method being adapted accordingly. This makes it possible, in particular, to provide redundancy in determining the state of blockage of the machine.

[0181]

[0178] It is more generally recalled that the invention is not limited to the examples described and illustrated.

Claims

Demands 1. A method (100) for monitoring the clogging of at least one crop treatment tool (13) (20), mounted on an autonomous agricultural machine (10) comprising motorized means (12) enabling it to move forward in a direction known as the direction of advance, the method being characterized in that it comprises: - a step of (110) monitoring an operational variable of the machine, representative of the progress of the machine; - a step of (120) comparing the operational variable with a predetermined threshold corresponding to the operational variable; - a step of (130) determining a state of congestion / decongestion of at least one processing tool (13), the at least one processing tool being said to be in a congested state when the operational variable is above or, depending on the type of operational variable, below said predetermined threshold, either occasionally or over a predetermined time period; and said to be in a decongested state otherwise.

2. Method (100) according to claim 1, characterized in that the operational variable corresponds to a travel time of a first distance predetermined by the machine, in that the predetermined threshold is a maximum travel time of said first distance predetermined by the machine, and in that, in the step (130) of determining the state of congestion / uncongestion, the at least one processing tool (13) is said to be in a congested state when said travel time is greater than said maximum travel time, and said to be in an uncongested state otherwise.

3. Method (100) according to claim 2, the machine being configured to advance in the direction of advancement according to a forward speed setpoint, the method being characterized in that said maximum travel time of the first predetermined distance is determined by the ratio between said first predetermined distance and the forward speed setpoint affected by a reduction coefficient, preferably about equal to 0.

6.

4. A method (100) according to any one of claims 2 or 3, characterized in that the step of monitoring at least one operational variable of the vehicle comprises recording the travel time in a sampled manner according to a step of sampling distance corresponding to said first predetermined distance.

5. Method (100) according to any one of claims 1 to 4, characterized in that the operational variable is an operating variable of the motorized advance means, in that the predetermined threshold is an operating setpoint of the motorized advance means or a maximum value of an operating variable of the motorized advance means.

6. Method (100) according to claim 5, characterized in that the operational variable is an electrical power consumed by the motorized advance means, in that the predetermined threshold is a maximum electrical power, and in that, in the step of determining the state of obstruction / unobstruction, at least one processing tool is said to be in an obstructed state when the electrical power consumption of the motorized advance means is greater than said maximum electrical power, for a first predetermined period, corresponding to a period of electrical overconsumption of the motorized advance means; and said to be in an unobstructioned state otherwise.

7. Method (100) according to claim 6, characterized in that, in the step of determining the state of congestion / uncongestion, at least one processing tool is said to be in a congested state when at least a predetermined number of periods of electrical overconsumption are detected over a second predetermined distance, traveled by the machine.

8. Method (100) according to any one of claims 5 to 7, the motorized advance means being configured to be operated according to a rotational speed setpoint, the method being characterized in that the operational variable is a rotational speed of the motorized advance means, in that the predetermined threshold is a rotational speed threshold corresponding to the rotational speed setpoint multiplied by a coefficient less than or equal to 1, and in that, in the step of determining the obstruction / clearance state, at least one processing tool is said to be in an obstruction state when the rotational speed of the motorized advance means is less than said rotational speed threshold, for a second predetermined duration; and said to be in a clearance state otherwise.

9. Method (100) according to claim 8, characterized in that the coefficient is equal to 1, and the step of determining the state of congestion / uncongestion further includes a check of the value of the rotation speed setpoint, at least one processing tool is said to be in a congested state when, in addition, the rotation speed setpoint is non-zero; and said to be in an uncongested state otherwise.

10. A method (100) according to any one of claims 1 to 9, characterized in that it further comprises a step (140) of activating a jam alert of at least one processing tool when the at least one processing tool is determined to be in a clogged state, and a step of deactivating (150) the jam alert when the machine travels a third predetermined distance after the jam alert has been activated.

11. A method (100) according to any one of claims 1 to 10, wherein at least one processing tool (13) is configured to admit at least one working position and one rest position, the method (100) being characterized in that it further comprises a deburring sequence (160) of at least one processing tool, comprising: - a step (162) of passing at least one processing tool into its resting position; - a step (164) of advancing the machine a fourth predetermined distance, according to the direction of advancement; - a step (166) of passing at least one tool into its working position; the unclogging sequence (160) being started when during the step (130) of determining a state of obstruction / unclogging, it is determined that at least one processing tool is in a clogged state.

12. A method (100) according to claim 11, characterized in that it further comprises counting the number of occurrences of the jam state of at least one processing tool, and a step (170) of determining a jammed / unjammed state of the tool, the tool being said to be in a jammed state when the number of jammed occurrences is greater than or equal to a predetermined jammed occurrence threshold, preferably over a predetermined fifth travel distance, and said to be in an unjammed state otherwise, and in that the unjamming sequence (160) further comprises, when the tool is determined to be in a jammed state, a step (163) of retracting the the machine of a sixth predetermined distance against the direction of travel, after step (162) of passing at least one processing tool into its rest position and before step (164) of travel.

13. Method (100) according to claim 11 or 12, characterized in that the unclogging sequence (160) further comprises a step (161) of stopping the advance of the machine, before the step (162) of passing the at least one processing tool into its rest position, and a step (167) of resuming the advance of the machine, after the step (166) of passing the at least one processing tool into its working position.

14. Self-contained agricultural machinery (10), comprising motorized means (12) enabling it to advance in a direction of advancement and at least one crop processing tool (13) configured to admit at least one working position and one resting position, the machinery (10) being configured to implement the method (100) according to any one of claims 1 to 13.

15. Autonomous agricultural machine (10) according to claim 14, of the type autonomous agricultural robot straddling tall crops, in particular vines, or low crops, in particular vegetable or cereal crops, or of the type autonomous agricultural robot for inter-row treatment of tall or low crops.

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