Method for resetting an autonomous agricultural machine from a remote computer terminal, and system for implementing such a method

Abstract

The invention relates to a method for resetting an autonomous agricultural machine (2) from a remote computer terminal (3), comprising the steps of transmitting an image stream from the machine to the computer terminal, displaying the images, determining a quality indicator for the stream, and starting a reset sequence when the quality indicator satisfies a quality criterion and the environment of the machine does not contain any obstacles, comprising: - activating an obstacle detection unit (5) of the machine; - a step of transmitting, to the machine, authorization to change to an operational state when, after a first predetermined duration greater than a reception latency of the image stream, it is determined that: • the quality indicator satisfies the quality criterion for the entirety of the first duration, and • the environment of the machine does contain any obstacles for the entirety of the first duration.

Description

[0001] Description

[0002] Title: Method for resetting an autonomous agricultural machine from a remote computer terminal and system for implementing such a method

[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 rearming an autonomous agricultural machine from a remote computer terminal.

[0006] [3] The invention further relates to a system for implementing such a method, as well as an autonomous agricultural machine and a computer terminal configured to equip such a system.

[0007] [4] The invention finds applications in particular in the agricultural field, especially for autonomous agricultural robots, in particular for the remote management of such robots.

[0008] STATE OF THE ART

[0009] [5] We know of autonomous agricultural machines, falling into the category of highly automated agricultural machines (HAAM), which have an electrical power circuit which, in an operational state of the machine, provides power to actuators of the machine, such as motorized means of advancement or motorized tools for treating agricultural crops.

[0010] [6] Such machines are further configured to admit a so-called safe state, in which the electrical power circuit is switched off, i.e. the power supply to the actuators of the machine is cut off.

[0011] [7] In this safe state, a logic circuit of the machine, powering, for example, a machine control module and / or remote communication devices, may remain energized. However, this circuit does not allow the machine's actuators to be activated. [8] At the start of an agricultural crop treatment mission, the machine is in the safe state. The mission can be started by arming the electrical power circuit, which is done by an operator physically interacting with the machine. The machine then leaves the safe state and enters an operational state.

[0012] [9] During the mission of treating agricultural crops, the machine may have to return to its safe state, for example if it detects an obstacle in its path.

[0013]

[0010] The operator then goes to the machine and resets the electrical power circuit, for example after clearing the obstacle or noting that the obstacle detection was a false positive.

[0014]

[0011] In particular, depending on the terrain conditions on which the machine is operating and / or the sensitivity of an obstacle detection device of the machine, as well as the normative rules in force concerning the safety procedures applicable to HAAM, the physical intervention of an operator with the machine may be frequent.

[0015]

[0012] This limits the machine's autonomous processing capabilities for agricultural crops, and leads to low productivity and high economic costs.

[0016]

[0013] Furthermore, any operation to rearm the vehicle must meet particularly high safety requirements, eliminating any risk of resuming the crop treatment mission. If there is any doubt as to whether the conditions authorizing the resumption of the mission are met, the vehicle may not be rearmed.

[0017]

[0014] The decision to rearm a device is therefore fraught with consequences, particularly with regard to the responsibility of the natural or legal person operating the device, and must be taken with significant precautions.

[0018] DESCRIPTION OF THE INVENTION

[0019]

[0015] The present invention aims to remedy all or part of the disadvantages of the prior art mentioned above.

[0020]

[0016] To this end, according to a first aspect, the invention relates to a method for resetting an autonomous agricultural machine from a remote computer terminal, following the machine's transition from an operational state, in which a power electrical circuit of the machine is energized, to a safe state, in which the machine's power electrical circuit is de-energized; the machine comprising an obstacle detection device and at least one device for acquiring images of the machine's environment, and the computer terminal comprising a device for displaying said images; the method comprising:

[0021] - a transmission step, in response to the vehicle entering the safe state, of a stream of images acquired by said at least one image acquisition device, from the vehicle to the computer terminal;

[0022] - a step of displaying the images of said image stream, using the viewing device, to determine whether the environment of the machine presents or does not present an obstacle;

[0023] - a step of determining, by the computer terminal, at least one quality indicator of said image stream;

[0024] - a start step of a rearming sequence, when at least one image stream quality indicator meets a corresponding quality criterion, and when it is determined that the vehicle's environment is free of obstacles; the rearming sequence comprising:

[0025] - an activation step of the vehicle's obstacle detection system, to determine whether the vehicle's environment presents an obstacle or not; - a transmission step, from the computer terminal to the vehicle, of authorization to enter the operational state, when, after a first predetermined period exceeding the latency of image stream reception by the computer terminal, it is determined that:

[0026] • at least one image stream quality indicator meets the corresponding quality criterion for the entirety of the first predetermined duration, and

[0027] • the environment of the device does not present any obstacle during the entire first predetermined duration.

[0028]

[0017] Such a method allows for remote resetting of the device while satisfying safety requirements, ensuring that no obstacle is in the vicinity of the device for the purpose of its resetting.

[0029]

[0018] On the one hand, verifying the conditions prior to initiating the rearming sequence ensures that the decision to rearm the craft is based on reliable data that is sufficiently representative of the craft's current situation.

[0019] On the other hand, continuously verifying at least some of these conditions during the rearming sequence, for a minimum duration exceeding the image reception latency, preferably substantially equal to twice the image reception latency, confirms the decision to rearm the craft by verifying that the craft's current situation is indeed favorable for rearming after the minimum duration has elapsed.

[0030]

[0020] Confirmation of the rearming sequence after a period greater than the image reception latency ensures that the images transmitted in response to the transition to the safe state of the device, on the basis of which the rearming sequence is launched, are correctly updated and that the decision can be maintained.

[0031]

[0021] It is specified that the rearming sequence can be interrupted as soon as one of the conditions for meeting the quality criteria and / or the absence of obstacles in the environment of the vehicle is no longer met, without waiting for the end of the first predetermined duration. The process can then be resumed at the start step of the rearming sequence, with verification of the conditions prerequisites for launching the sequence.

[0032]

[0022] It is specified that the computer terminal can be in communication with several devices, each of which can be rearmed from it.

[0033]

[0023] The rearming process makes it possible to significantly increase the productivity of the machine, by allowing a much faster rearming following transitions to the safe state, which can be particularly frequent during a crop treatment mission, while satisfying important safety requirements regarding the decision to rearm the machine.

[0034]

[0024] Preferably, the determination that the environment of the craft does not present an obstacle as a condition for starting the rearming sequence is carried out by a human operator, and the determination that at least one quality indicator of the image stream satisfies a corresponding quality criterion is carried out by computer by the computer terminal.

[0035]

[0025] The same applies to the analogous determination steps during the rearming sequence, with the determination of the presence of an obstacle also being performed by the device, which is configured to transmit obstacle detection information to the computer terminal.

[0026] In other words, at the priority date of this application, in a preferred embodiment, the method is preferably a computer-assisted rearming method.

[0036]

[0027] According to another embodiment, the determination that the environment of the craft does not present an obstacle as a condition for starting the rearming sequence, as well as the analogous step of determination during the rearming sequence, is also carried out by computer by the computer terminal, for example by means of an image recognition algorithm configured to recognize obstacles in the environment of the craft with sufficient certainty to satisfy the safety regulations in force.

[0037]

[0028] In such an embodiment, a human operator can nevertheless supervise the execution of the process by the computer terminal, and intervene in case of an anomaly to interrupt the execution of the process and in particular the reset sequence.

[0038]

[0029] In other words, the method can be a computer-implemented rearming method, possibly supervised by a human operator.

[0039]

[0030] Other preferred features of the process, which are particularly advantageous, are described below.

[0040]

[0031] According to a preferred embodiment, the step of determining at least one quality indicator of said image stream comprises determining at least:

[0041] - an image sharpness indicator, to which corresponds an image sharpness criterion;

[0042] - a latency of image stream reception, to which corresponds a maximum latency criterion for image stream reception;

[0043] - an indicator of image flow fluidity, to which corresponds a minimum image flow fluidity criterion.

[0044]

[0032] Determining a sharpness criterion and verifying its quality ensures that the images allow the environment of the machine to be correctly distinguished, and the presence or absence of obstacles in it.

[0045]

[0033] Determining the image stream reception latency and verifying its quality ensures that the images are received in real time or near real time, with a limited time delay between the transmission of the images by the device and their reception by the computer terminal.

[0034] Determining a fluidity indicator and verifying its quality ensures that the images are received regularly, and in particular that the displayed and analyzed image is not frozen.

[0046]

[0035] According to a preferred embodiment, the device comprises a body equipped with at least one reference graphic frame, the reference graphic frame having a display size in reference pixels on an image acquired by at least one image acquisition device; the step of determining at least one quality indicator includes determining the effective display size in pixels of the reference graphic frame on the images of said image stream, the sharpness indicator being defined by the ratio between the effective display size in pixels and the display size in reference pixels; and the image sharpness criterion being satisfied when the sharpness indicator is less than or equal to a predetermined value.

[0047]

[0036] Thus, the sharpness of the image is quantified by determining the number of pixels composing the reference graphic frame on the images of the image stream, i.e. the effective display size in pixels of the reference graphic frame, and comparing the effective number of pixels displayed with a reference number of pixels, i.e. a reference display size in pixels of the reference graphic frame.

[0048]

[0037] The reference pixel display size corresponds in particular to a pixel display size under ideal image acquisition and transmission conditions.

[0049]

[0038] A sharpness criterion equal to 1 indicates maximum image sharpness.

[0050]

[0039] Preferably, the image sharpness criterion is satisfied when the sharpness indicator is less than or equal to about 1.1.

[0051]

[0040] According to a preferred embodiment, the method includes a step of determining the latency of reception of the image stream by the computer terminal, in response to the reception of said image stream, the maximum latency criterion being satisfied when the latency of reception of the image stream is less than a second predetermined duration.

[0052]

[0041] The image stream reception latency is preferably determined automatically in response to the image stream reception and compared to a maximum latency threshold corresponding to the second predetermined duration.

[0042] The second predetermined duration is preferably approximately 30 seconds.

[0053]

[0043] According to a preferred embodiment, the image stream transmission step includes the transmission, with each of the images in the image stream, of a timestamp of the image acquisition time; the fluidity indicator being determined from the timestamp of the acquisition time of the most recent image received by the computer terminal, by the difference between a current time and the time of the acquisition time of the most recent image received by the computer terminal, and the minimum fluidity criterion being satisfied when the fluidity indicator is less than a third predetermined duration.

[0054]

[0044] In other words, the fluidity indicator indicates the age of the most recent image in the image stream. If this exceeds the third predetermined duration, the image stream is considered too choppy and the images are considered too old and / or the stream is considered frozen.

[0055]

[0045] The third predetermined duration is preferably between 1 and 3 seconds.

[0056]

[0046] According to a preferred embodiment, the image display step of said image stream includes displaying said timestamp data superimposed on the images of said image stream.

[0057]

[0047] This allows a human operator to supervise the verification of the fluidity indicator by reading the timestamp and comparing it with the current time.

[0058]

[0048] According to a preferred embodiment, the device comprises a body equipped with at least one visual reference element, the method comprising a step of determining the presence of at least one visual reference element on the images of said image stream; the rearming sequence being started when, in addition, the presence of at least one visual reference element is determined on the images of said image stream.

[0059]

[0049] The position of the visual reference element is predetermined on the vehicle, and the image acquisition system is arranged on the vehicle so that the visual reference element is within the acquisition field of the image acquisition system, in the correct positioning of the latter. Verifying the presence of the visual reference element in the image ensures that the image acquisition system is correctly positioned and transmits images that accurately represent the vehicle's environment. This makes it possible, in particular, to verify that blind spots of the vehicle are covered by the acquisition field of the image acquisition system.

[0060]

[0050] According to a preferred embodiment, the method includes a step of transmitting, in response to the transition of the craft into the safe state, from the craft to the computer terminal, a first identification data of the craft that has passed into the safe state; the step of transmitting the image stream including the transmission of a second identification data of the craft transmitting said image stream; the rearming sequence being started when, in addition, the second identification data of the craft transmitting said image stream corresponds to the first identification data of the craft that has passed into the safe state.

[0061]

[0051] Comparing the second identification data with the first identification data ensures that the device transmitting the images actually corresponds to the device in its safe state and to be rearmed. This ensures that the rearming decision is made based on corresponding images that accurately represent the environment of the device to be rearmed.

[0062]

[0052] The first identification data and the second identification data are, for example, a unique serial number of the machine.

[0063]

[0053] According to a preferred embodiment, the display step includes displaying the second identification data of the device transmitting said image stream as an overlay on the images of said image stream.

[0064]

[0054] This allows a human operator to supervise the verification of the second identification data, by comparing it to the first identification data received from the device that has entered the safe state.

[0065]

[0055] According to a preferred embodiment, the method comprises a step of transmitting, in response to the vehicle entering the safe state, operational history data from the vehicle to the computer terminal. This data includes a timestamp of the moment the vehicle entered the safe state and information indicating the cause of the vehicle entering the safe state, and preferably a sequence of images acquired prior to the vehicle entering the safe state. The rearming sequence is initiated when, in addition, it is determined that the operational history data has been received by the computer terminal.

[0066]

[0056] Thus, the computer terminal and / or the human operator can in particular determine where in the environment of the machine and at what time an obstacle was detected, and check the presence or not of this obstacle on the images of said image stream.

[0067]

[0057] According to a preferred embodiment, the method includes a step of unlocking the computer terminal by means of an access code, the reset sequence being started when, in addition, the computer terminal is unlocked.

[0068]

[0058] This makes it possible to secure access to the computer terminal and ensure that the start-up or supervision of the reset sequence can only be carried out by an authorized human operator, when the process partly involves human intervention.

[0069]

[0059] According to a preferred embodiment, the method includes a step of switching the machine into the operational state in response to receiving authorization to switch into the operational state, including energizing the power circuit and emitting a visual and / or audible alert by the machine, followed by starting the machine.

[0070]

[0060] The invention also relates, according to a second aspect, to a system comprising at least one autonomous agricultural machine and a remote computer terminal, configured for the implementation of the rearming process as described above.

[0071]

[0061] The system may include several autonomous agricultural machines, i.e. a fleet of autonomous agricultural machines, communicating with the same remote computer terminal.

[0072]

[0062] The invention also relates, according to a third aspect, to an autonomous agricultural machine configured to equip a system as described above, comprising means of communication with the remote computer terminal as well as at least one image acquisition device of the machine's environment.

[0073]

[0063] According to a preferred embodiment, the device comprises a plurality of image acquisition organs, arranged so as to acquire together a continuous peripheral image of the environment of the device.

[0074]

[0064] According to a preferred embodiment, the machine includes a body equipped with at least one visual reference element, the at least one image acquisition element being arranged so as to acquire an image of the environment of the machine on which the at least one visual reference element appears.

[0075]

[0065] The invention also relates, according to a fourth aspect, to a computer terminal configured to equip a system as described above, comprising a communication device with at least one autonomous agricultural machine and an image display device.

[0076] BRIEF DESCRIPTION OF THE FIGURES

[0077]

[0066] 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:

[0078] - Figure 1 is a schematic representation of a system comprising two autonomous agricultural machines and a remote computer terminal; and

[0079] - Figure 2 is a block-time diagram of a process for re-arming an autonomous agricultural machine from a remote terminal.

[0080] DETAILED DESCRIPTION OF THE INVENTION

[0081]

[0067] The present description is given by way of a non-limiting example of at least one embodiment of the invention.

[0082]

[0068] In particular, unless otherwise indicated in the detailed description that follows, each feature of an embodiment can be advantageously combined with any other feature of any other embodiment.

[0083]

[0069] It should be noted from the outset that the figures are not necessarily to scale.

[0084]

[0070] Figure 1 schematically represents a system 1 comprising an autonomous agricultural machine 2 and a computer terminal 3 remote from the machine 2.

[0085]

[0071] In particular, system 1 here comprises two devices 2, substantially similar to each other.

[0086]

[0072] The machine 2 is an autonomous agricultural machine, also called an agricultural robot, configured to carry out a mission of processing agricultural crops autonomously, essentially without human intervention.

[0087]

[0073] Such a machine 2 falls in particular into the category of highly automated agricultural machinery, known as "HAAM".

[0074] A crop treatment mission includes, in particular, the autonomous navigation of the machine 2 within a plot of agricultural crops, as well as autonomous treatment of agricultural crops and / or the soil of the plot of agricultural crops.

[0088]

[0075] The machine 2 includes means of advancement 4, here wheels, enabling it to advance in a main direction of advancement.

[0089]

[0076] The means of advancement 4 allow the machine 2 to move within the plot of agricultural crops to carry out its mission.

[0090]

[0077] The machine 2 further comprises crop treatment tools (not shown), which may for example be of the hoeing type, and / or seeder, and / or inter-row, and / or weeding finger type (for example of Kress type, registered trademark), and / or clod-breaking disc, and / or notched disc, and / or brush, and / or rigid tooth, and / or tine harrow, and / or opening share, and / or leaf guard, and / or sprayer.

[0091]

[0078] These tools allow the agricultural crops and / or the soil of the plot to be treated during the agricultural crop treatment mission.

[0092]

[0079] The device 2 also includes an obstacle detection device 5, here formed by a sensitive edge arranged at the front of the device 2 and configured to detect an obstacle on the path of the device by contact with it.

[0093]

[0080] The obstacle detection device 5 makes it possible, in particular, to interrupt the advance of the vehicle 2 when an obstacle is detected. An obstacle can be formed by an object, such as a rock or an agricultural crop, or by a living being, such as an animal or a human being.

[0094]

[0081] The machine 2 includes a control module 6, connected to the obstacle detection device 5 and to the advancement means 4, to control the latter according to a detection carried out by the obstacle detection device 5.

[0095]

[0082] Furthermore, the device 2 includes at least one image acquisition unit 7, configured to acquire images of the environment of the device 2.

[0096]

[0083] The image acquisition organ 7 is in particular a camera, preferably capturing images in the visible range.

[0097]

[0084] In particular, the device 2 here comprises two image acquisition elements 7. These image acquisition elements 7 are, for example, mounted on an external body 8 comprising the device 2, and, for example, directed respectively towards the front of the device 2 and the rear of the device 2.

[0085] It may also be image acquisition elements 7 which are arranged so as to acquire together a peripheral image around the device 2.

[0098]

[0086] In addition or as an alternative, image acquisition organs 7 can also be directed towards crop processing tools included in the device 2.

[0099]

[0087] The device 2 preferably includes a luminous and / or audible terminal 9, which is configured to emit a luminous and / or audible signal, in particular when the device 2 is switched on.

[0100]

[0088] The device 2 further includes a remote communication module 10, configured to exchange, i.e. transmit and receive, data with the remote computer terminal 3.

[0101]

[0089] The vehicle 2 includes an electrical power circuit, supplied by an energy reservoir for example formed by one or more electric batteries, and allowing to supply energy to at least the means of advancement 4, as well as an electrical logic circuit, supplied by the energy reservoir or possibly by an auxiliary energy source, and which allows to supply at least the control module 6, the communication module 10, the image acquisition devices 7 as well as the obstacle detection device 5.

[0102]

[0090] The machine 2 is configured to enter an operational state in which the power electrical circuit is energized. In the operational state, the machine 2 can, in particular, move within the agricultural plot using its propulsion means 4, and carry out a crop treatment mission. The logic electrical circuit is also energized at this time.

[0103]

[0091] In the operational state, the electrical power circuit, and by extension the device 2, is said to be "armed".

[0104]

[0092] The vehicle 2 is further configured to admit a safe state, in which the power electrical circuit is de-energized. In the safe state, the vehicle 2 is immobilized, and its means of advancement 4 are not powered. The logic electrical circuit may remain energized at least to power the control module 6, the communication module 10, and the image acquisition devices 7.

[0105]

[0093] The device 2 can, for example, switch from the operational state to the safe state when an obstacle in the environment of the device 2 is detected by means of the obstacle detection device 5.

[0094] The computer terminal 3 includes a control module 11, of the (micro-)computer type, comprising at least one (micro-)processor, a working storage memory, in particular volatile, as well as a non-volatile storage memory.

[0106]

[0095] The computer terminal 3 further includes a remote communication device 12, configured to exchange, i.e. transmit and receive, data with at least one device 2, and here with both devices 2.

[0107]

[0096] The communication unit 12 is connected by a data link to the control module 11.

[0108]

[0097] The computer terminal 3 further includes an image display device 13, connected to the control module 11 by a data link.

[0109]

[0098] The display device 13 is for example formed by one or more computer screens, configured to display an image, preferably in color.

[0110]

[0099] The computer terminal 3 is preferably equipped with a human-machine interface 14, for example of the keyboard and / or mouse type, and / or including push-type buttons, and / or formed by a touch computer screen.

[0111]

[0100] The display device 13 is connected by a data link to the control module 11.

[0112]

[0101] The device 2 is configured to transmit image data acquired by the image acquisition organs 7, in the form of an image stream, to the computer terminal 3.

[0113]

[0102] Image stream means a series of successive image data.

[0114]

[0103] The computer terminal 3 is configured to receive image data, and to display it via the display device 13.

[0115]

[0104] The computer terminal 3 is further configured to process image data via the control module 11, in particular to determine characteristics of the image stream such as its latency and / or fluidity, and / or to determine characteristics of the images of said image stream such as their sharpness and / or the presence of characteristic elements on them.

[0116]

[0105] The vehicle 2 is also configured to transmit other types of data, including operational data of the vehicle 2, with or independently of the images in the image stream.

[0106] The computer terminal 3 is configured to receive this data, to process it via the control module 11 and / or to display it via the display device 13.

[0117]

[0107] The computer terminal 3 is also configured to transmit instructions to the machine 2, and the machine 2 is configured to receive these instructions and process them by means of the control module 6.

[0118]

[0108] The system 1, comprising a device 2 and a computer terminal 3 communicating with each other, is configured to implement a method 100 for resetting the device 2 from the computer terminal 3, illustrated by the synoptic diagram in Figure 2, on which are represented, along a time axis going from top to bottom in Figure 2, the steps of the method 100 implemented respectively by the device 2 and the computer terminal 3 as well as between the latter.

[0119]

[0109] By "rearming", we mean the fact that the device 2 goes from the safe state to the operational state, that is to say that the electrical power circuit of the device 2 is energized.

[0120]

[0110] The method 100 is implemented in response to the transition of the device 2 from the operational state to the safe state, i.e. the electrical power circuit of the device 2 is switched off, for example when an obstacle is detected by means of the obstacle detection device 5.

[0121]

[0111] The vehicle 2, which is generally in motion during a crop treatment mission before entering the safe state, interrupts its advancement when entering the safe state.

[0122]

[0112] The vehicle 2 can only return to the operational state in the absence of an obstacle on its trajectory, for example if the obstacle has been removed manually or autonomously by the vehicle 2, or if the obstacle has left the environment of the vehicle 2.

[0123]

[0113] The method 100 may include a prior step 105 of transmitting a notification of transition to the safe state, from the device 2 to the computer terminal 3 and / or a mobile terminal equipping a human operator.

[0124]

[0114] The notification received by the computer terminal 3 and / or the mobile terminal can be displayed on the display device 13 and / or the mobile terminal, and prompts the human operator to start a remote rearming operation of the device 2.

[0115] The method 100 may include a step 110 of unlocking the computer terminal 3, including for example the communication of an access code to the computer terminal 3 via the human-machine interface 14.

[0125]

[0116] The method 100 includes a step 120 of transmission by the device 2, in response to the passage of the device 2 into the safe state, of a stream of images acquired by the image acquisition devices 7 to the computer terminal 3.

[0126]

[0117] Thus, the method 100 includes, in mirror, a step of receiving by the computer terminal 3 the stream of images transmitted from the device 2.

[0127]

[0118] The method 100 includes a step 125 of displaying images from the image stream, using the viewing device 13, to determine whether the environment of the vehicle 2 presents or does not present an obstacle.

[0128]

[0119] The presence or absence of an obstacle in the environment of the device 2 can be determined by the human operator who views the images and / or by the control module 11 which estimates the presence of obstacles for example by means of the implementation of an image recognition algorithm executed by the control module 11.

[0129]

[0120] In other words, determining the presence or absence of an obstacle can be done by a human, by a computer under human supervision, or entirely by computer. In the last case, displaying the images during step 125 is optional.

[0130]

[0121] The method 100 includes a step 130, subsequent to or parallel with step 125, of determining, by the computer terminal 3, at least one quality indicator of the image stream.

[0131]

[0122] Preferably, at least one quality indicator is determined by the control module 11 following the reception of the image stream.

[0132]

[0123] Preferably, the following quality indicators are determined:

[0133] - an image sharpness indicator; and

[0134] - a latency in receiving the image stream; and

[0135] - a fluidity indicator.

[0136]

[0124] Image sharpness is defined as the property of the image to faithfully reflect the situation in which the vehicle 2 is located, i.e., that the environment visible in the images is sufficiently recognizable. Sharpness can be measured or quantified by the sharpness indicator.

[0125] To this end, the vehicle 2 here includes a graphic reference marker intended to allow the image sharpness to be quantified. This is, for example, a graphic marker on the body 8 of the vehicle 2, which has an element of predetermined dimensions. The element of predetermined dimensions can, for example, be a graphic element having a predetermined thickness.

[0137]

[0126] The reference graphic marker has a predetermined display size in reference pixels, on an image acquired by an image acquisition device 7, under ideal image acquisition and transmission conditions, i.e. in which image sharpness is maximal.

[0138]

[0127] In other words, the reference graphic frame is represented by a predetermined number of pixels on the image acquired by the image acquisition device 7.

[0139]

[0128] The image sharpness indicator is for example determined by an analysis of the image stream carried out by the control module 11, which is configured to perform computer processing on the images in the image stream to determine the sharpness of the visual reference marker.

[0140]

[0129] Step 130 includes determining the quantity of pixels, among the pixels composing the image, which belong to the reference graphic frame, in other words, determining the effective pixel display size of the reference graphic frame on the images in the image stream.

[0141]

[0130] The greater the sharpness, the closer the number of pixels belonging to the reference graphic frame is to the predetermined display size in pixels.

[0142]

[0131] On the contrary, the lower the sharpness, the more the edges of the reference graphic coordinate system are spread out and the number of pixels belonging to the reference graphic coordinate system is greater.

[0143]

[0132] The sharpness indicator is determined by the ratio between the effective display size in pixels and the reference display size in pixels.

[0144]

[0133] In other words, the maximum sharpness of the image corresponds to a sharpness indicator equal to 1, that is to say that the effective pixel display size corresponds to 100% of the reference pixel display size.

[0145]

[0134] In other embodiments, other image processing methods for determining image sharpness may be used, including in particular processing methods that do not require a graphic reference frame, such as Fourier transform processing on images.

[0146]

[0135] The image stream reception latency is defined as the time elapsed between the moment when an image data is sent, here by the device 2, and the moment when it is actually received and processed by the recipient, here the computer terminal 3.

[0147]

[0136] A high reception latency indicates a significant transmission time, and means that there may be a significant difference between the situation visible on the images of the image stream and the actual situation of the craft 2.

[0148]

[0137] The image stream reception latency can be determined automatically by the computer terminal 3 in response to the reception of the image stream by the latter.

[0149]

[0138] Image smoothness is defined as the regularity of image data reception. Low smoothness indicates jerky image data reception, or even a temporary interruption in image data reception.

[0150]

[0139] For example, the device 2 is configured to transmit, with each image in the image stream, a timestamp data of the instant of image acquisition.

[0151]

[0140] The computer terminal 3 includes a clock, allowing the determination of a current time.

[0152]

[0141] The image fluidity indicator can be determined by the difference between the current time and the time of the acquisition of the most recent image received by the computer terminal 3, transmitted with the timestamp data.

[0153]

[0142] The method 100 includes a rearming sequence 160, which is started when certain preconditions for rearming the device 2 are met.

[0154]

[0143] The method 100 thus includes a step 155 of starting the reset sequence 160, including checking these conditions and then launching the steps that comprise the reset sequence 160 when the conditions are met.

[0155]

[0144] Step 155 includes, on the one hand, checking whether each image stream quality indicator satisfies a corresponding quality criterion.

[0156]

[0145] In particular, the image sharpness indicator corresponds to a minimum image sharpness criterion.

[0146] For example, the image sharpness criterion corresponds to an effective display size in pixels less than or equal to 110% of the reference display size in pixels, in other words, if the sharpness indicator is less than or equal to 1.1.

[0157]

[0147] The image stream reception latency corresponds to a maximum image stream reception latency criterion.

[0158]

[0148] For example, the maximum reception latency is a predetermined duration of 30 seconds (s).

[0159]

[0149] A minimum image flow fluidity criterion corresponds to the image flow fluidity indicator.

[0160]

[0150] For example, the minimum fluidity criterion is a predetermined duration of between 1 and 3 seconds (s). When the fluidity indicator exceeds this predetermined duration, this indicates that the most recent image received by the computer terminal 3 is too old and / or that the image stream is frozen, and is not representative of the current situation of the device 2.

[0161]

[0151] Optionally, the timestamp data of each of the images in the image stream can be displayed as an overlay of the corresponding image during step 125, by which the human operator can also determine the fluidity of the image stream in comparison to a current time, which can also be displayed on the viewing device 13.

[0162]

[0152] Verification of the satisfaction of each of the quality indicators with a corresponding quality criterion ensures that the images viewed by the human operator and / or processed by the control module 11 provide sufficient information on the current situation of the machine 2.

[0163]

[0153] Step 155 also includes checking whether the environment of the device 2 presents any obstacle.

[0164]

[0154] As indicated above, the determination of the presence or absence of an obstacle in the environment of the device 2 can be carried out by a human operator and / or by computer.

[0165]

[0155] When these main conditions are met, the reset sequence 160 can be started.

[0166]

[0156] However, preferably, other additional conditions may be checked to start the rearming sequence 160. These conditions may or may not be cumulative.

[0157] For example, step 155 includes checking whether the image acquisition organs are correctly positioned and whether they allow the environment of the craft 2 to be correctly represented.

[0167]

[0158] For this purpose, the body 8 of the vehicle 2 may be provided with at least one visual reference element 15, which may, for example, be formed by a graphic representation painted on the body 8 or more simply by a characteristic area of ​​the body 8 such as an edge or a characteristic geometry of the body.

[0168]

[0159] It is specified that the aforementioned graphic reference frame and the visual reference organ can be formed by one and the same organ.

[0169]

[0160] The method 100 includes a step 135 of determining the presence of at least one visual reference organ 15 on the images of said image stream.

[0170]

[0161] The presence or absence of at least one visual reference organ 15 can be determined by the human operator viewing the images and / or by the control module 11 which estimates the presence of obstacles for example by means of the implementation of an image recognition algorithm executed by the control module 11.

[0171]

[0162] Step 155 includes verifying that the presence of the visual reference organ 15 has been determined on the images, meaning that the image acquisition organs 7 are correctly positioned, thus satisfying the condition for starting the rearming sequence 160.

[0172]

[0163] For example, step 155 includes verifying that the device transmitting the images actually corresponds to device 2 that has passed into the safe state.

[0173]

[0164] To this end, the method 100 includes a step 140 of transmission by the device 2, in response to the passage of the device 2 into the safe state, of a first identification data of the device passed into the safe state, to the computer terminal 3.

[0174]

[0165] The first identification data is, for example, a unique serial number of the device 2 which has passed into the safe state.

[0175]

[0166] Step 120 of image stream transmission then also includes the transmission of a second identification data for the device transmitting the image stream.

[0176]

[0167] The second identification data is, for example, a unique serial number of the device 2 that transmits the image stream.

[0168] Step 155 includes comparing the first identification data and the second identification data, the condition for starting the rearming sequence being verified when the second identification data matches the first identification data.

[0177]

[0169] Step 125 may include the overlay display of the second identification data, the human operator being able to compare this data with the first identification data received for example with the notification of transition to the safe state in step 105.

[0178]

[0170] For example, step 155 may include verifying the receipt of operational history information from the engine 2 by the computer terminal 3.

[0179]

[0171] The method 100 then includes a step 145 of transmission by the device 2, in response to the passage of the device 2 into the safe state, of operational history data including a timestamp of the moment of the passage of the device into the safe state, information indicating the cause of the passage of the device into the safe state, and preferably a sequence of images acquired upstream of the passage of the device into the safe state, to the computer terminal 3.

[0180]

[0172] The method 100 includes a step of receiving operational history data by the computer terminal 3, and may include displaying this data on the display device 13.

[0181]

[0173] Step 155 includes determining that the operational history data is received by the computer terminal 3, the condition for starting the rearming sequence being verified when the operational history data is actually received by the computer terminal 3.

[0182]

[0174] When the main conditions and preferably all or part of the additional conditions are met, the reset sequence 160 can be started.

[0183]

[0175] The start of the reset sequence 160 can for example be carried out by manipulation of the human-machine interface 14 by the human operator and / or automatically by the control module 11.

[0184]

[0176] The manipulation of the human-machine interface 14 by the human operator may, for example, include pressing a push button on the human-machine interface 14.

[0177] The reset sequence 160 extends at least over a first duration T1, which corresponds to a minimum duration of the reset sequence and which is greater than a latency of reception of the image stream by the computer terminal 3.

[0185]

[0178] Preferably, the first duration T1 is on the order of 2 times the latency of reception of the image stream by the computer terminal.

[0186]

[0179] The rearming sequence 160 includes a step 165 of activation of the obstacle detection device 5 of the craft 2, which makes it possible to determine whether the environment of the craft presents or does not present an obstacle.

[0187]

[0180] Step 165 thus includes the transmission to the vehicle 2 of an instruction to activate the obstacle detection device 5 by the computer terminal 3.

[0188]

[0181] The obstacle detection unit 5 transmits information on the detection or non-detection of obstacles to the control module 6, which is then transmitted to the computer terminal 3 by the vehicle 2.

[0189]

[0182] The rearming sequence 160 further includes a step 170 of transmission to the vehicle 2 of an authorization to move into the operational state by the computer terminal 3, step 170 being conditional upon the verification of certain conditions.

[0190]

[0183] For this purpose, step 130 of determining at least one quality indicator, and preferably step 125 of displaying the images, is continued during the execution of the rearming sequence 160.

[0191]

[0184] The rearming sequence 160 includes determining whether, at the end of the first predetermined duration T1, on the one hand at least one image stream quality indicator has met the corresponding quality criterion during the entire first predetermined duration T1, as well as at the end of it, and on the other hand the environment of the craft has not presented any obstacle during the entire first predetermined duration T1, and also does not present any at the end of it.

[0192]

[0185] In other words, the rearming sequence 160 includes real-time monitoring of satisfaction by the quality indicators of corresponding quality criteria, meaning that the transmitted images accurately represent the current situation of the vehicle 2, and real-time monitoring of the absence of obstacles in the environment of the vehicle 2, meaning that the cause of the transition to the safe state has been eliminated.

[0186] The verification that the environment of the vehicle does not present any obstacles is carried out, on the one hand, from the data acquired by the obstacle detection device 5, and on the other hand, from the image data of the image stream by the identification of the absence of obstacles performed by a human operator and / or by computer.

[0193]

[0187] In other words, the rearming sequence 160 is confirmed, by the transmission of the authorization to move into the operational state, when the main conditions necessary for the launch of the rearming sequence 160 are met during the first predetermined duration T1.

[0194]

[0188] This ensures that the sending of the authorization to enter the operational state is carried out following a decision-making process based on image data representative of the actual situation of the vehicle 2 located at a distance from the computer terminal 3, and without risk of omitting contextual elements crucial to authorizing the entry into the operational state of the vehicle 2.

[0195]

[0189] The step of transmitting the authorization to enter the operational state, equivalent to a rearming confirmation step, may include an express validation step that the main conditions are met for the entire first predetermined duration T1.

[0196]

[0190] The method 100 may provide that such express validation must be carried out within a limited time period following the elapse of the first predetermined duration T1, for example approximately within 20 seconds after the elapse of the first predetermined duration T1.

[0197]

[0191] For example, the start of the reset sequence 160 includes pressing a push button on the human-machine interface 14 and holding it down by the human operator while the main conditions are met; confirmation of the reset sequence is performed by releasing the push button at the end of the first predetermined duration T1.

[0198]

[0192] It is specified that the additional conditions described above are no longer necessarily verified during the execution of the rearming sequence 160.

[0199]

[0193] It is specified that the rearming sequence 160 can be interrupted at any time before the elapse of the first predetermined duration T1, if it is determined that at least one of the main conditions, i.e. the satisfaction of the quality indicators to the corresponding quality criteria and / or the absence of an obstacle in the environment of the craft, is no longer met.

[0200]

[0194] The process 100 can then return to step 155 of starting the reset sequence 160, in order to restart the reset sequence 160 as soon as the main conditions at least are met.

[0201]

[0195] When the authorization to enter the operational state has been transmitted to and received by the vehicle 2, the crop treatment mission can be resumed.

[0202]

[0196] The method 100 includes a step 180 of switching the machine into the operational state in response to receiving authorization to switch into the operational state, including energizing the power circuit and issuing a visual and / or audible alert by means of terminal 9, followed by starting the machine by means of actuation of the advancement means 4.

[0203]

[0197] Preferred features of other embodiments not illustrated are described below:

[0204]

[0198] - The steps of the rearming process can be implemented in parallel or one after the other, according to any technically feasible combination.

[0205]

[0199] - The system may include a single device or more than two devices.

[0206]

[0200] - The devices may not be similar but may differ from one another.

[0207]

[0201] - The device may include a single image acquisition element or more than two image acquisition elements.

[0208]

[0202] - The image acquisition device can be a camera capturing in other domains than the visible, for example infrared.

[0209]

[0203] - The image acquisition device can be a LIDAR type sensor or a Time-of-Flight type sensor, allowing an image of the environment to be acquired in the form of a point cloud.

[0210]

[0204] - The means of advancement may be different from wheels, and may be formed for example by tracks.

[0211]

[0205] - The display device may be different from a computer screen connected to the control module, and may, for example, be the screen of a mobile terminal such as a laptop, smartphone, tablet, etc., connected to the control module via a wired or wireless data link.

[0206] - The computer terminal may be entirely a mobile terminal such as a laptop, smartphone, tablet, etc., including the communication component, or may include some of the computer terminal's components that are attached to the mobile terminal and connected to it via standard connection interfaces.

[0212]

[0207] It is recalled that the invention relates to a method for re-arming an autonomous agricultural machine from a remote computer terminal, as well as a system comprising at least one autonomous agricultural machine and a remote computer terminal, for the implementation of such a method.

[0213]

[0208] The invention also relates respectively to an autonomous agricultural machine and a computer system to equip such a system, and thus implement at least in part the rearming process.

[0214]

[0209] Thus, on the one hand, the invention also relates to a method for resetting an autonomous agricultural machine from a remote computer terminal, following the machine's transition from an operational state, in which a power electrical circuit of the machine is energized, to a safe state, in which the machine's power electrical circuit is de-energized; the machine comprising an obstacle detection device and at least one device for acquiring images of the machine's environment, and the computer terminal comprising a device for displaying said images; the method, implemented by the machine, comprising:

[0215] - a transmission step to the computer terminal, in response to the vehicle entering the safe state, of a stream of images acquired by said at least one image acquisition device;

[0216] - an activation step of the obstacle detection device of the machine, to determine whether the environment of the machine presents or does not present an obstacle; in response to the receipt of an instruction to activate the obstacle detection device from the computer terminal;

[0217] - a stage of receiving, from the computer terminal, an authorization to move into the operational state, in response to which the machine energizes the electrical power system.

[0218]

[0210] Furthermore, the invention also relates to a method for resetting an autonomous agricultural machine from a remote computer terminal, following the machine's transition from an operational state, in which a power circuit of the machine is energized, to a safe state, in which the machine's power circuit is de-energized; the machine comprising an obstacle detection device and at least one device for acquiring images of the machine's environment, and the computer terminal comprising a device for displaying said images; the method, implemented by the computer terminal, comprising:

[0219] - a stage of receiving a stream of images acquired by said at least one image acquisition device, transmitted by the vehicle to the computer terminal in response to the vehicle passing into the safe state;

[0220] - a step of displaying the images of said image stream, using the viewing device, to determine whether the environment of the machine presents or does not present an obstacle;

[0221] - a step of determining, by the computer terminal, at least one quality indicator of said image stream;

[0222] - a start step of a rearming sequence, when at least one image stream quality indicator meets a corresponding quality criterion, and when it is determined that the vehicle's environment is free of obstacles; the rearming sequence comprising:

[0223] - a step of transmitting to the machine a command to activate the machine's obstacle detection device, to determine whether the machine's environment presents or does not present an obstacle;

[0224] - a step of transmitting authorization to the vehicle to enter the operational state, when, after a first predetermined period exceeding the latency of receiving the image stream by the computer terminal, it is determined that:

[0225] • at least one image stream quality indicator meets the corresponding quality criterion for the entirety of the first predetermined duration, and

[0226] • the environment of the device does not present any obstacle during the entire first predetermined duration.

[0227]

[0211] It is more generally recalled that the invention is not limited to the examples described and illustrated.

Claims

26 Demands 1. A method (100) for resetting an autonomous agricultural machine (2) from a remote computer terminal (3), following the machine's transition from an operational state, in which the machine's electrical power circuit is energized, to a safe state, in which the machine's electrical power circuit is de-energized; the machine (2) comprising an obstacle detection device (5) and at least one image acquisition device (7) of the machine's environment, and the computer terminal (3) comprising a display device (13) for said images; the method comprising: - a transmission step (120), in response to the vehicle passing into the safe state, of a stream of images acquired by said at least one image acquisition device (7), from the vehicle (2) to the computer terminal (3); - a step (125) of displaying the images of said image stream, by means of the viewing device (13), to determine whether the environment of the machine presents or does not present an obstacle; - a step (130) of determining, by the computer terminal (3), at least one quality indicator of said image stream; - a step (155) for starting a rearming sequence (160), when at least one image stream quality indicator meets a corresponding quality criterion, and when it is determined that the vehicle's environment is free of obstacles; the rearming sequence (160) comprising: - a step (165) of activating the obstacle detection device (5) of the machine, to determine whether the environment of the machine presents or does not present an obstacle; - a transmission step (170), from the computer terminal (3) to the vehicle (2), of an authorization to enter the operational state, when, after a first predetermined period exceeding a latency for receiving the image stream by the computer terminal (3), it is determined that: • at least one image stream quality indicator meets the corresponding quality criterion for the entirety of the first predetermined duration, and Tl • the environment of the device does not present any obstacle during the entire first predetermined duration.

2. A method (100) according to claim 1, wherein the step (130) of determining at least one quality indicator of said image stream comprises determining at least: - an image sharpness indicator, to which corresponds an image sharpness criterion; - a latency of image stream reception, to which corresponds a maximum latency criterion for image stream reception; - an indicator of image flow fluidity, to which corresponds a minimum image flow fluidity criterion.

3. Method (100) according to claim 2, the machine (2) comprising a body (8) provided with at least one graphic reference frame, the graphic reference frame having a display size in reference pixels on an image acquired by at least one image acquisition device (7); the step (130) of determining at least one quality indicator comprising determining the effective display size in pixels of the graphic reference frame on the images of said image stream, the sharpness indicator being defined by the ratio between the effective display size in pixels and the display size in reference pixels; and the image sharpness criterion being satisfied when the sharpness indicator is less than or equal to a predetermined value, which is preferably a value of about 1.

1.

4. Method (100) according to any one of claims 2 or 3, comprising a step of determining the latency of reception of the image stream by the computer terminal (3), in response to the reception of said image stream, the maximum latency criterion being satisfied when the latency of reception of the image stream is less than a second predetermined duration, which is preferably about 30 seconds.

5. A method (100) according to any one of claims 2 to 4, wherein the image stream transmission step (120) comprises transmitting, with each image in the image stream, a timestamp of the image acquisition time; the smoothness indicator being determined from the timestamp of the time of acquisition of the most recent image received by the computer terminal (3), by the difference between a current time and the time of the time of acquisition of the most recent image received by the computer terminal, and the minimum fluidity criterion being satisfied when the fluidity indicator is less than a third predetermined duration, which is preferably between 1 and 3 seconds.

6. Method (100) according to claim 5, wherein the step (125) of displaying the images of said image stream comprises displaying said timestamp data superimposed on the images of said image stream.

7. Method (100) according to any one of claims 1 to 6, the device comprising a body (8) equipped with at least one visual reference element (15), the method comprising a step (135) of determining the presence of at least one visual reference element on the images of said image stream; the rearming sequence (160) being started when, in addition, the presence of at least one visual reference element (15) is determined on the images of said image stream.

8. A method (100) according to any one of claims 1 to 7, comprising a step (140) of transmitting, in response to the vehicle entering the safe state, from the vehicle to the computer terminal, a first identification data of the vehicle having entered the safe state; the step (120) of transmitting the image stream comprising the transmission of a second identification data of the vehicle transmitting said image stream; the rearming sequence (160) being started when, furthermore, the second identification data of the vehicle transmitting said image stream corresponds to the first identification data of the vehicle having entered the safe state.

9. Method (100) according to claim 8, wherein the display step (125) comprises displaying the second identification data of the device transmitting said image stream as an overlay on the images of said image stream.

10. A method (100) according to any one of claims 1 to 9, comprising a step (145) of transmitting, in response to the vehicle entering the safe state, from the vehicle to the computer terminal, operational history data comprising a timestamp of the moment the vehicle entered the safe state and information indicating the cause of the vehicle entering the safe state, and preferably a sequence of images acquired prior to the vehicle entering the safe state, 29 the rearming sequence (160) being started when, in addition, it is determined that the operational history data are received by the computer terminal.

11. Method (100) according to any one of claims 1 to 10, comprising a step (110) of unlocking the computer terminal by means of an access code, the reset sequence (160) being started when, furthermore, the computer terminal (3) is unlocked.

12. Method (100) according to any one of claims 1 to 11, comprising a step (180) of switching the machine into the operational state in response to receiving authorization to switch into the operational state, comprising energizing the power circuit and emitting a visual and / or audible alert by the machine, followed by starting the machine.

13. System (1) comprising at least one autonomous agricultural machine (2) and a remote computer terminal (3), configured for the implementation of the method (100) according to any one of claims 1 to 12.

14. Autonomous agricultural machine (2) configured to equip a system (1) according to claim 13, comprising means of communication (10) with the remote computer terminal as well as at least one image acquisition device (7) of the machine's environment.

15. Device (2) according to claim 14, comprising a plurality of image acquisition organs (7), arranged so as to acquire together a continuous peripheral image of the environment of the device.

16. Device (2) according to claim 14 or 15, comprising a body (8) equipped with at least one visual reference element (15), at least one image acquisition element (7) being arranged to acquire an image of the environment of the device on which at least one visual reference element (15) appears.

17. Computer terminal (3) configured to equip a system (1) according to claim 13, comprising a communication device (12) with at least one autonomous agricultural machine (2) and an image display device

Images