[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

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 PDF

Info

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
Application number
FR1913655A
Other languages
English (en)
Other versions
FR3103674A1 (fr
Inventor
Henri Appert
De Baix Emmanuel Goua
Clément Baron
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Agreenculture
Original Assignee
Agreenculture
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Agreenculture filed Critical Agreenculture
Priority to FR1913655A priority Critical patent/FR3103674B1/fr
Priority to US17/756,754 priority patent/US20230104748A1/en
Priority to PCT/FR2020/052273 priority patent/WO2021111085A1/fr
Priority to EP20828051.1A priority patent/EP4068939A1/fr
Publication of FR3103674A1 publication Critical patent/FR3103674A1/fr
Application granted granted Critical
Publication of FR3103674B1 publication Critical patent/FR3103674B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General 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)
  • Guiding Agricultural Machines (AREA)
  • Manipulator (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
FR1913655A 2019-12-03 2019-12-03 Procédé de commande par un superviseur d'au moins un robot agricole autonome comportant des moyens de géolocalisation Active FR3103674B1 (fr)

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
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
FR1913655 2019-12-03

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 (13)

* Cited by examiner, † Cited by third party
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
AU2017231273A1 (en) * 2016-03-09 2018-10-11 Yanmar Co., Ltd. Work vehicle and travel region specifying device
US10251329B2 (en) 2016-06-10 2019-04-09 Cnh Industrial Canada, Ltd. Planning and control of autonomous agricultural operations
KR102523426B1 (ko) 2016-09-05 2023-04-20 가부시끼 가이샤 구보다 작업차 자동 주행 시스템, 주행 경로 관리 장치, 주행 경로 생성 장치, 주행 경로 결정 장치
JP6920958B2 (ja) 2016-10-26 2021-08-18 株式会社クボタ 走行経路生成装置
WO2018116770A1 (fr) 2016-12-19 2018-06-28 株式会社クボタ Système de déplacement automatique d'engin de chantier
WO2018116771A1 (fr) 2016-12-19 2018-06-28 株式会社クボタ Dispositif de détermination de trajet de déplacement
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
WO2021178998A1 (fr) * 2020-03-02 2021-09-10 Raven Industries, Inc. Systèmes et procédés de guidage

Also Published As

Publication number Publication date
WO2021111085A1 (fr) 2021-06-10
US20230104748A1 (en) 2023-04-06
FR3103674A1 (fr) 2021-06-04
EP4068939A1 (fr) 2022-10-12

Similar Documents

Publication Publication Date Title
WO2017200258A3 (fr) Procédé de conversion d'un signal acoustique en un signal haptique, et dispositif haptique l'utilisant
EP4357869A3 (fr) Sélection de trajectoire pour un véhicule autonome
WO2018160267A3 (fr) Systèmes et procédés de commande robotique en nuage
EP4250676A3 (fr) Procédé de commande d'une grappe passerelle d'interface de programmation d'application (api) et grappe passerelle api
PH12018501430B1 (en) System and method for driver selection
MX2019009269A (es) Notificacion de csi de haces multiples.
WO2017079228A3 (fr) Logique de planification adaptative de véhicule autonome
WO2019070842A3 (fr) Technique de sélection de la meilleure fréquence pour une transmission basée sur des conditions atmosphériques changeantes
MX2019012035A (es) Equipo de usuario y metodo para el mismo.
EP4426048A3 (fr) Dispositif de traitement d'informations, procédé de traitement d'informations et serveur
JP2016076252A5 (fr)
MX2021013131A (es) Aparato de comunicacion y metodo de comunicacion.
EP3352426A3 (fr) Optimisation de l'efficacité d'un réseau pour des exigences d'application
WO2016101460A8 (fr) Procédé et dispositif pour transmettre des informations d'indication
AU2016200042A1 (en) Controlling a digging attachment along a path or trajectory
FR3103674B1 (fr) Procédé de commande par un superviseur d'au moins un robot agricole autonome comportant des moyens de géolocalisation
EP2472819A8 (fr) Systèmes et procédés pour fournier et utiliser un réseau de communication sécurisé
FR3089081B1 (fr) Procédé d’échange de données entre des drones d’un essaim de drones
IL191722A0 (en) Method, apparatus and computer program for accrss control
FR3089375B1 (fr) Procédé et système de protection d’un aéronef contre une instruction de commande incohérente
WO2018213761A3 (fr) Diagraphie distribuée de puits à distance
NZ735120A (en) Gateway device, demand response system, and program for gateway device
US11550297B2 (en) Methods and arrangements for robot device control in a cloud
PH12019501394A1 (en) Secure offline resource operations
FR3041132B1 (fr) Procede de transmission de donnees, dispositifs et programmes d'ordinateur correspondants

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20210604

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

PLFP Fee payment

Year of fee payment: 5