Agricultural Robot Fleet Zoning for Collision-Free Field Work
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing agricultural machinery fleets require constant communication and are dependent on each other, leading to complex data flow, reduced efficiency, and difficulty in managing collisions and flexible work allocation.
Innovation Solution
A method of subdividing a plot into distinct, strip-shaped working zones assigned exclusively to individual robots, managed by a central system, allowing independent operation and flexible zone allocation based on work progress.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If constant bidirectional communication is implemented between robots for fleet coordination, then collision avoidance and work coordination are improved, but device complexity and data flow requirements increase significantly
Solution Approach 1:
The plot is divided into multiple working zones that are assigned to different robots. Each robot operates independently within its assigned zone without needing to communicate with other robots, thereby eliminating the need for complex bidirectional communication systems while ensuring collision avoidance through spatial separation.
2Reliability
If master-slave communication architecture is used for robot coordination, then work synchronization is improved, but robot independence and fleet efficiency are reduced
Solution Approach 1:
Each robot is equipped with autonomous navigation and work execution capabilities, allowing it to independently manage its own operations within its assigned working zone. The central system only performs initial zone assignment and receives status reports, enabling robots to self-coordinate without master-slave dependency, thus maximizing fleet efficiency while maintaining work synchronization.
3Productivity
If fixed-width working zones are assigned to robots in real-time, then work distribution is improved, but communication frequency and system complexity increase
Solution Approach 1:
Working zones are pre-defined with fixed widths corresponding to robot working capabilities before the fleet begins operation. The central system performs initial assignment of zones to robots based on their specifications, eliminating the need for frequent real-time reassignment communications. Robots complete their assigned zones independently, reducing communication frequency while maintaining efficient work distribution.
4Productivity
If progressive zone allocation based on work completion is implemented, then robot utilization is improved, but central system management complexity increases
Solution Approach 1:
The central system receives simple status feedback from robots regarding their work completion progress in assigned zones. Based on this feedback, the system progressively reallocates completed zones to available robots, optimizing utilization. The feedback mechanism is designed to be minimal and standardized, avoiding excessive central system complexity while enabling dynamic resource allocation.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
The invention relates to a method for working a plot of land (P) simultaneously by at least two agricultural robots (R1, R2, Ri) operating autonomously and independently, in accordance with instructions and/or commands transmitted by a common central management and control system (SC). The method is characterised in that it consists in subdividing said plot of land (P) to be treated into at least two distinct work zones (Z1, Z2, Zj) and allocating each work zone (Z1, Z2, Zj) exclusively to one of the agricultural robots (R1, R2, Ri), at least during the working phase in question, the width (Lz) of the majority of the work zones (Z1, Z2, Zj) being equal to a multiple, greater than or equal to 1 and preferably an integer, of the working width (Lr) of the agricultural robot (R1, R2, Ri) to which it is exclusively allocated, and in that, during work on the plot of land (P), work zones (Z1, Z2, Zj) not yet worked are exclusively allocated to the various agricultural robots (R1, R2, Ri), respectively, in a gradual manner according to the completion of the work undertaken by the agricultural robots in the various work zones allocated to them.