FR3103674B1 - 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 géolocalisation Download PDFInfo
- Publication number
- FR3103674B1 FR3103674B1 FR1913655A FR1913655A FR3103674B1 FR 3103674 B1 FR3103674 B1 FR 3103674B1 FR 1913655 A FR1913655 A FR 1913655A FR 1913655 A FR1913655 A FR 1913655A FR 3103674 B1 FR3103674 B1 FR 3103674B1
- Authority
- FR
- France
- Prior art keywords
- supervisor
- controlling
- autonomous agricultural
- agricultural robot
- robot
- 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.)
- Active
Links
- 230000000737 periodic effect Effects 0.000 abstract 1
Classifications
-
- 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
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
L’invention présente un procédé de commande par un superviseur d’au moins un robot agricole autonome comportant des moyens de géolocalisation, le superviseur transmettant audit au moins un robot agricole autonome des messages périodiques d’allocation de rang, chacun desdits robots agricoles comportant un calculateur pour commander le déplacement du robot correspondant en fonction d’une part de la trajectoire allouée et d’autre part des données de géolocalisation, ainsi que pour le calcul d’une trajectoire de changement de rang en fonction des messages transmis par le superviseur. Figure de l’abrégé :1
Priority Applications (4)
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 |
US17/756,754 US20230104748A1 (en) | 2019-12-03 | 2020-12-03 | Method for control by a supervisor of at least one autonomous agricultural robot comprising geolocation means |
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 |
EP20828051.1A 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 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1913655 | 2019-12-03 | ||
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 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3103674A1 FR3103674A1 (fr) | 2021-06-04 |
FR3103674B1 true FR3103674B1 (fr) | 2022-03-25 |
Family
ID=70008682
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1913655A Active 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 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230104748A1 (fr) |
EP (1) | EP4068939A1 (fr) |
FR (1) | FR3103674B1 (fr) |
WO (1) | WO2021111085A1 (fr) |
Family Cites Families (11)
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 |
US10251329B2 (en) | 2016-06-10 | 2019-04-09 | Cnh Industrial Canada, Ltd. | Planning and control of autonomous agricultural operations |
US11726485B2 (en) | 2016-09-05 | 2023-08-15 | Kubota Corporation | Autonomous work vehicle travel system, travel route managing device, travel route generating device, and travel route determining device |
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 |
-
2019
- 2019-12-03 FR FR1913655A patent/FR3103674B1/fr active Active
-
2020
- 2020-12-03 US US17/756,754 patent/US20230104748A1/en active Pending
- 2020-12-03 EP EP20828051.1A patent/EP4068939A1/fr active Pending
- 2020-12-03 WO PCT/FR2020/052273 patent/WO2021111085A1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
FR3103674A1 (fr) | 2021-06-04 |
US20230104748A1 (en) | 2023-04-06 |
WO2021111085A1 (fr) | 2021-06-10 |
EP4068939A1 (fr) | 2022-10-12 |
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Legal Events
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PLFP | Fee payment |
Year of fee payment: 2 |
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PLSC | Publication of the preliminary search report |
Effective date: 20210604 |
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Year of fee payment: 3 |
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PLFP | Fee payment |
Year of fee payment: 4 |
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PLFP | Fee payment |
Year of fee payment: 5 |