EP4068939A1 - Procédé de commande par un superviseur d'au moins un robot agricole autonome comportant des moyens de géolocalisation - Google Patents
Procédé de commande par un superviseur d'au moins un robot agricole autonome comportant des moyens de géolocalisationInfo
- Publication number
- EP4068939A1 EP4068939A1 EP20828051.1A EP20828051A EP4068939A1 EP 4068939 A1 EP4068939 A1 EP 4068939A1 EP 20828051 A EP20828051 A EP 20828051A EP 4068939 A1 EP4068939 A1 EP 4068939A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- row
- supervisor
- robot
- path
- trajectory
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000000737 periodic effect Effects 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 claims abstract description 8
- 238000005457 optimization Methods 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 4
- 239000002689 soil Substances 0.000 claims description 4
- 238000009313 farming Methods 0.000 claims description 2
- 238000011144 upstream manufacturing Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 16
- 230000002441 reversible effect Effects 0.000 description 9
- 238000003306 harvesting Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000219310 Beta vulgaris subsp. vulgaris Species 0.000 description 1
- 235000021536 Sugar beet Nutrition 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/22—Command input arrangements
- G05D1/221—Remote-control arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/22—Command input arrangements
- G05D1/229—Command input data, e.g. waypoints
- G05D1/2295—Command input data, e.g. waypoints defining restricted zones, e.g. no-flight zones or geofences
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/69—Coordinated control of the position or course of two or more vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
Definitions
- Method for controlling by a supervisor at least one autonomous agricultural robot comprising geolocation means
- the present invention relates to the field of precision agriculture (in English "Precision Land Management - PLM”) implementing autonomous agricultural robots and more particularly the function of automatic sequence of maneuvers at the end of the field, for row work. of culture.
- These maneuvers are relatively delicate because the maneuvering zone, substantially perpendicular to the rows of crops, must be as small as possible to avoid the loss of cultivable area, and requires the operator to have great precision to move to the next row with perfect alignment. , without "biting the limits of the maneuver zone.
- This operation is all the more delicate as the agricultural machine is often equipped with a very wide tool, offset behind the center of rotation of the machine, which involves extrapolating the movements of the points furthest from the machine. the working tool.
- the TERRA DOS T4 sugar beet harvester from the HOLMER company (trade names) can be equipped with a SMART CONTROL module from the REICHHARDT company (trade names) carrying out GNSS control to record the boundaries of the plantation and the field as well as other parameters.
- Headland U-turn control lifts the harvesting unit and pushes it back into place.
- the system automatically indicates at the end of the row via an audible signal the optimal time to initiate the U-turn that the driver is actively starting.
- the module then commands the stop at the limit of the plots the lifting and lifts the lifting block to the optimum point.
- GNSS GPS
- the system automatically drives in the correct nearest lane.
- the module automatically returns the harvesting unit to the optimum point in the field.
- the certified row sensor control system controls the machine on the row.
- the calculation of the necessary waypoints is done in the module.
- the CAN-Bus transfers the waypoints to the control computer which retransmits the calculated U-turn movements to the vehicle controller.
- the recorded data makes it possible to calculate the trajectory during U-turns, row changes or retraction trips as well as virtually count the trajectories. All operational procedures are optimized and fully automated. In the absence of this data, navigation information is collected during the uprooting. In addition, automatic and continuous calculations are carried out for the next headland trip, in order to optimize the driving behavior at the headland (headland width, entry conditions into the next row, etc.) on row sensor path database. Finally, all the data specific to the impacts are stored and made available to the farmer who can document and evaluate them.
- This automatic steering feature improves machine profitability by automatically scheduling and executing highly efficient steering, minimizing downtime during turns and ensuring the implement fits into the next row. according to the desired trajectory, without requiring the intervention of the driver.
- Patent application US2017 / 188505 (French patent FR3042943) is known in the state of the art, describing a system capable of fully or semi-automatically managing maneuvers, in particular U-turns, which is independent. of the tractor, usable with tractors with or without on-board intelligence and able to manage U-turn maneuvers, with trajectory prediction for motorized agricultural couplings comprising either one to three pieces of equipment attached to a tractor.
- trajectory optimization algorithms based on such a great diversity of parameters, partly linked to each other, are not stable and can lead to inappropriate solutions. This document also specifies that “The operator can deactivate the maneuver management and guidance system at the end of the trajectory to correct any drift”.
- each connection path of the plurality of possible connection paths connects a half-swath of a first half-swath of the set of half-swaths to a second half-swath of the set of half-swaths;
- connection path chosen from among the plurality of possible connection paths as a function of the cost; and • emit a signal indicative of a travel path for an agricultural work vehicle.
- the sensor assembly is configured to facilitate the determination of the conditions of the vehicle. , e.g. infrared sensors, ultrasonic sensors, magnetic sensors, etc.) configured to monitor a rotational speed of a respective wheel or track and / or a ground speed of the work vehicle.
- the sensors can also monitor the operating levels (eg temperature, fuel level, etc.) of the work vehicle.
- the sensors can monitor conditions in and around the field, such as temperature, weather, wind speed, humidity, objects on the ground and other similar conditions. The quality of guidance is strongly linked to the consistency and precision of these multiple data.
- junction paths are calculated assuming constant vehicle speed. Junction paths can be recalculated whenever the speed changes or they can be recalculated periodically whether or not the vehicle speed has changed.
- junction paths are constructed as a series of linear, circular, and spiral segments. Spirals are used to join segments of different and constant curvature, for example to join a line and an arc of a circle. This solution imposes limitations: the speed must be assumed to be constant, otherwise the calculation must be restarted at each change of speed. However, the speed varies continuously in the case of an agricultural vehicle moving over uneven terrain.
- the present invention aims to remedy these drawbacks, by means of a robust solution limiting the number of data necessary for the calculation of the optimal trajectory, and making it possible to determine in real time the corrective actions allowing optimal monitoring of a theoretical trajectory.
- a supervisor of at least one autonomous agricultural robot comprising geolocation means, said supervisor transmitting to said at least one autonomous agricultural robot periodic rank allocation messages, each of said agricultural robots comprising a computer for controlling the movement of the corresponding robot as a function of, on the one hand, the allocated trajectory and, on the other hand, geolocation data, as well as for the calculation of a row change trajectory as a function of the messages transmitted by said supervisor,
- Said supervisor transmits a digital message describing the limits of the maneuvering zone formed by at least one polygon; and in that the method consists in calculating the displacement of said robot a) during the displacement on a row by a guide law by minimizing the difference between o the center of the robot o the projection of the center of the robot on row b) when moving outside a row as a function of a guide law by minimizing the difference between o the center of the robot o the projection of the center of the robot on a maneuver path said maneuver path being determined by an optimization under constraints of the maneuver path, said constraints comprising: o the orientation of the end of the maneuver path corresponds to the orientation of the start of the following row where the area traversed by all the mobile elements is strictly inscribed in said maneuvering polygon, the optimization criterion being constituted by the weighted combination of at least part of the following parameters : minimization of the travel time of said maneuvering path maximization of the turning radii minimization of the cultivation surface crossed by the support surface on the ground generated by the movement
- This library contains, for example, the recording of digital data defining a “K” bend, a “U” bend or any other type of usual bend.
- the method further comprises a digital message further describing at least one maneuver route consisting of a succession of segments S ⁇ each defined by a downstream point PAV ⁇ , an upstream point PAM ⁇ corresponds to the point PAVi + i of the next segment S + i , said optimization criterion for minimizing the crop surface crossed being determined as a function of the difference between the maneuver path and the maneuver route.
- said trajectory during movement outside the row is a function of the following parameters: the tangent to the exit row the tangent to the allocated row of said maneuvering path from the limits of the authorized movement zone.
- said trajectory during movement outside the row comprises at least one reversal of the direction of movement.
- said trajectory during movement outside the row is calculated to present at least one asymptote close to the limit of the authorized movement zone.
- said trajectory during movement outside the row is calculated to maximize the distance between the asymptotes of said trajectory and the limit of the authorized movement zone.
- said trajectory during movement outside the row is calculated to minimize the length of said trajectory.
- said trajectory during movement outside the row is calculated to maximize the radii of curvature of said trajectory
- said supervisor transmits a plurality of maneuver paths and in that the robot selects one of said maneuver paths during the step of calculating said U-turn trajectory.
- said computer for controlling the movement of the robot comprises a controller determining in real time the direction and the speed of movement as a function of the offset between said reference point and the calculated trajectory, with different coefficients for the movement on a row on the one hand, and for moving outside a row on the other hand.
- said coefficients are adjusted according to the use of the tool and the nature of the soil.
- the invention also relates to a precision farming system comprising a supervisor and at least one autonomous agricultural robot comprising geolocation means, characterized in that said supervisor comprises a computer for calculating periodic rank allocation messages for each of said agricultural robots and a digital representation of at least one maneuvering path, and communication means for transmitting said periodic messages and said digital representation to said at least one autonomous agricultural robot, each of said agricultural robots comprising its own geolocation means and a computer to control the movement of the corresponding robot as a function of, on the one hand, the allocated trajectory and, on the other hand, the geolocation data, as well as for the calculation of a rank change trajectory as a function of the messages transmitted by said supervisor, the computer of each of said at least one robot being configured for cal culate the movement of said robot a) during movement on a row by a guide law by minimizing the gap between o the center of the robot o the projection of the center of the robot on the row b) when moving outside a row as a function of a guide law by minimizing the difference between o the center
- conformity to a typology of a preferred trajectory from a library of typologies for example a “K” turn, a “U” turn, a turn described by a succession of arcs, rectilinear segments and cusps, in particular in the form of triplets of arcs and / or rectilinear segments and associated with a number between 0 and 2 designating the number of elements (arc or rectilinear segment) traversed in reverse.
- the invention also relates to an autonomous agricultural robot comprising its own geolocation means, a computer for controlling the guidance as a function of information coming from said geolocation means and to a communication means for receiving information transmitted by a. remote supervisor, characterized in that said information transmitted by said supervisor comprises periodic rank allocation messages for each of said agricultural robots and a digital representation of at least one maneuver path, said computer being configured to control the movement of the robot corresponding depending on the one hand on the allocated trajectory and on the other hand on geolocation data, as well as for the calculation of a rank change trajectory as a function of the messages transmitted by said supervisor, a) when moving on a rank by a guide law by minimizing the difference between o the center of the robot o the projection of the center of the robot on row b) when moving outside a row as a function of a guide law by minimization of l 'deviation between o the center of the robot o the projection of the center of the robot on a maneuver path said maneuver path being determined by an optimization under constraints of the maneuver path, said constraints comprising
- the invention also relates to a supervisor of autonomous agricultural robots comprising geolocation means, characterized in that it comprises a computer for calculating periodic rank allocation messages for each of said agricultural robots and a digital representation of at least one. maneuver path, and communication means for transmitting said periodic messages and said digital representation to said at least one autonomous agricultural robot.
- Figure 1 shows a schematic view of the implementation of the invention.
- the system according to the invention illustrated by FIG. 1 relates to working an area organized in a plurality of rows (2), with at the end of the rows (2) turning zones (3, 4) located between the cultivable area and the limits of movement of agricultural machinery defined by roadways, ditches, hedges and embankments bordering the cultivable area.
- the plot of land for cultivation is structured by lines oriented so as to reduce maneuvers.
- the interval between two adjacent lines is generally constant but may present variations locally to take account of specific features of the terrain.
- These lines are in the as far as possible straight, but may present curvatures locally. They define the rows of passage of agricultural machinery, for work such as plowing, sowing, weeding, harvesting, spraying various compounds, etc.
- the topology of the plot is calculated by a server (5) by optimization treatments and recorded in a memory (6) of the server in the form of a digital map comprising the geolocated information relating to the rows (2) and to the turning zones ( 3, 4).
- the system also includes autonomous machines (10) towing a work hitch (12) having a reference point (15).
- Each of the autonomous vehicles (10) is equipped with its own geolocation means (11), for example by a satellite geolocation system (20). It also includes fixed beacons (small sensor box) (7, 8).
- the supervisor calculates the movement trajectories of each of the autonomous vehicles (10), and transmits to the autonomous vehicles (10) the information necessary to ensure the tracking of the allocated trajectory according to the geolocation data received locally by each of the vehicles.
- the trajectory on the plot is calculated as a function of the allocated rank.
- the supervisor also calculates for each of the machines one or more maneuver paths between a row and the next allocated row and transmits them to the concerned machine to allow it to control the movement between the end of a row (15) and the beginning. of the rank allocated for the subsequent movement.
- Figure 2 illustrates the movement of the machine (10).
- the tool is in an active or inactive state depending on the instruction corresponding in particular to the nature of the work depending on the location of the robot.
- the computer of the machine (10) calculates a correction to return to point (16) of the nominal trajectory.
- “Maneuver path” designates the reference line of movement connecting the starting row to the finishing row. This guide path will serve as a frame of reference for guiding the robot, and in particular as a frame of reference for measuring the difference between the real position and the reference position.
- “Maneuver path” designates the combination of the maneuver path and the speed setpoint at each point of the path.
- “Shunting route” designates a line crossing the shunting area and corresponding to a preferred line remaining inside the shunting polygon. This maneuver route is optional and makes it possible to simplify the calculation of the maneuver path.
- Constraint optimization designates a family of digital processing based on the analytical resolution or numerical of the problems which consist in minimizing or maximizing a function-criterion on a set.
- the robot When the robot arrives at the end of a row (18), it controls the passage of the tool (12) to the inactive state, and modifies its guidance control strategy to switch to a mode for determining the trajectory by a constrained, real-time or precomputed optimization algorithm.
- the preparation of the data for the determination of the trajectory out of the rows consists in defining a digital representation of the georeferenced polygons (20) defining the maneuver zone and whose periphery delimiting the limits of movement (19) in which the swept surfaces must remain circumscribed. by the robot and its associated equipment during its movements between two consecutive rows, which constitutes the first constraint.
- This digital representation also includes, for each of the rows, the position and orientation of the start of the row (17).
- a second constraint is that the trajectory in the maneuvering zone ends at the start of the next row, with the same orientation as that of the said start of the row.
- the possible maneuvering paths taking these constraints into account, are infinite, and the constrained optimization processing consists in selecting at least one of them making it possible to also satisfy weighted criteria such as: the minimization of the travel time, a function of the length of the maneuvering path and the bending radii, as well as the maximum speed compatible with each of the radii of curvature and, where appropriate, other parameters intrinsic to the robot and associated equipment the maximization of the radius of curvature, which may be assigned a weighting coefficient lower than that assigned to the criterion of minimization of travel time, a radius of too low curvature leading to soil degradation especially for tracked robots minimization of the cultivation surface crossed by the support surface on the ground generated by the movement of the robot on said maneuvering path, in order to limit the crushing of surfaces crops crossed by the robot.
- weighted criteria such as: the minimization of the travel time, a function of the length of the maneuvering path and the bending radii, as well as the maximum speed compatible with each of the radii of curvature and, where
- the robot computer loads one or more maneuver paths into the memory of the robot's local computer, and one of the paths is selected, either by a human operator, or by a message transmitted by the supervisor, or by a choice algorithmic executed by the robot computer according to the available maneuvering area.
- a maneuver path is made up of a succession of straight or curved sections (2 to 5).
- Each section (2 to 5) is defined by the geographical coordinates of the end points and of the angular orientation of the tangents at said ends.
- the trajectory typology library can be described by representations identified according to their main descriptors.
- the entry into the path and the exit are made in a substantially parallel manner or at 90 ° and in opposite directions, and in forward motion.
- Trajectories are classified into three categories, in which the paths are ordered:
- Desirable paths which are the paths that the user wants to see as much as possible.
- the classification is only a proposal that can be modified according to technical specifications, users, tools or others.
- IoT U-shaped path designated by the type SCS_D (a straight segment, a 180 ° curve, a new straight segment, without any reverse gear)
- Id 2 CCS_R trajectory: a trajectory curved over 135 °, a turning point with a reverse gear according to a second curve of 45 °, a straight segment in forward motion.
- CCS_R trajectory a trajectory a trajectory curved over 30 °, a turning point with a reverse gear according to a second curve of 90 °, a straight segment in forward motion.
- Id 4 Trajectory CCC_R: a trajectory a trajectory curved over 35 ° to the left, a turning point with a reverse gear according to a second curve of 60 °, a curve of 60 ° in forward motion.
- Trajectory CCC_R a trajectory a trajectory curved over 45 ° to the right, a turning point with a reverse gear according to a second curve of 60 °, a curve of 45 ° in forward motion.
- Trajectory CCS_D a trajectory presenting a first curve of more than 270 °, a second curve according to a curve in the opposite direction followed by a rectilinear segment
- Id 7 Trajectory CCC_D: a trajectory presenting a first curve of 45 °, a second curve of more than 180 ° in the opposite direction followed by a third curve in the opposite direction
- Id 8 SCS_R trajectory: a trajectory presenting a first rectilinear segment, followed by a reversal point and a reverse gear according to a first curve of 90 °, and a new reversal point followed by a rectilinear segment
- CCS_D trajectory a trajectory presenting two consecutive curves and a rectilinear segment with an intersection of trajectory
- Trajectory CCC_D a trajectory presenting three consecutive curves with an intersection of trajectory
- Trajectory CSC_R a trajectory presenting an entry curve, a cusp, a rectilinear segment perpendicular to the entry and exit axis, and a new cusp followed by a new curve.
- the DRS path selection algorithm proceeds as follows: Over a first range of radii, the algorithm only tests whether there are valid desirable paths by gradually decreasing the radius.
- the algorithm tests whether there are valid desirable or possible paths by gradually decreasing the radius.
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1913655A FR3103674B1 (fr) | 2019-12-03 | 2019-12-03 | Procédé de commande par un superviseur d'au moins un robot agricole autonome comportant des moyens de géolocalisation |
PCT/FR2020/052273 WO2021111085A1 (fr) | 2019-12-03 | 2020-12-03 | Procédé de commande par un superviseur d'au moins un robot agricole autonome comportant des moyens de géolocalisation |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4068939A1 true EP4068939A1 (fr) | 2022-10-12 |
Family
ID=70008682
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20828051.1A Pending EP4068939A1 (fr) | 2019-12-03 | 2020-12-03 | Procédé de commande par un superviseur d'au moins un robot agricole autonome comportant des moyens de géolocalisation |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230104748A1 (fr) |
EP (1) | EP4068939A1 (fr) |
FR (1) | FR3103674B1 (fr) |
WO (1) | WO2021111085A1 (fr) |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8131432B2 (en) | 2008-02-27 | 2012-03-06 | Deere & Company | Method and system for managing the turning of a vehicle |
US9020757B2 (en) * | 2012-05-11 | 2015-04-28 | Trimble Navigation Limited | Path planning autopilot |
US9795074B2 (en) | 2015-10-27 | 2017-10-24 | Cnh Industrial America Llc | Automatic swath generation device and methods |
FR3042943B1 (fr) * | 2015-11-03 | 2017-11-10 | Kuhn Sa | Attelage agricole avec un systeme de gestion et de guidage de manœuvres et procede mis en œuvre par cet attelage |
EP3427562B1 (fr) * | 2016-03-09 | 2020-09-02 | Yanmar Co., Ltd. | Dispositif de spécification de région de déplacement |
US10251329B2 (en) | 2016-06-10 | 2019-04-09 | Cnh Industrial Canada, Ltd. | Planning and control of autonomous agricultural operations |
EP3508045A4 (fr) | 2016-09-05 | 2020-04-22 | Kubota Corporation | Système de déplacement de véhicule de chantier autonome, dispositif de gestion d'itinéraire de déplacement, dispositif de génération d'itinéraire de déplacement, et dispositif de détermination d'itinéraire de déplacement |
JP6920958B2 (ja) | 2016-10-26 | 2021-08-18 | 株式会社クボタ | 走行経路生成装置 |
WO2018116771A1 (fr) | 2016-12-19 | 2018-06-28 | 株式会社クボタ | Dispositif de détermination de trajet de déplacement |
US11300976B2 (en) | 2016-12-19 | 2022-04-12 | Kubota Corporation | Work vehicle automatic traveling system |
DE102017105773A1 (de) | 2017-03-17 | 2018-09-20 | Lemken Gmbh & Co. Kg | Verfahren zum Planen der Bearbeitung eines landwirtschaftlichen Felds |
US10729055B2 (en) * | 2017-06-19 | 2020-08-04 | Cnh Industrial America Llc | System and method for determining swath connections |
EP4114165A4 (fr) * | 2020-03-02 | 2024-04-03 | Raven Industries, Inc. | Systèmes et procédés de guidage |
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2019
- 2019-12-03 FR FR1913655A patent/FR3103674B1/fr active Active
-
2020
- 2020-12-03 EP EP20828051.1A patent/EP4068939A1/fr active Pending
- 2020-12-03 US US17/756,754 patent/US20230104748A1/en active Pending
- 2020-12-03 WO PCT/FR2020/052273 patent/WO2021111085A1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
FR3103674B1 (fr) | 2022-03-25 |
WO2021111085A1 (fr) | 2021-06-10 |
US20230104748A1 (en) | 2023-04-06 |
FR3103674A1 (fr) | 2021-06-04 |
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