EA044171B1 - AUTONOMOUS ROBOT - Google Patents

Description

Field of technology

The invention relates to an autonomous robot equipped with a multispectral sensor. The invention can be used, in particular, in the field of agriculture, especially in precision farming. Such robots are used, in particular, to create and share maps of land plots for the purpose of conducting site diagnostics.

State of the art

Currently, autonomous robots are used in agriculture to determine plant nutrient requirements within a site, as well as detect the presence of aggressive biological factors such as weeds, diseases or pests.

To achieve this goal, robots are equipped with detectors or imaging devices to carry out site-specific diagnostics in map form, allowing the farmer to make precise interventions, save on costs, limit environmental impact and at the same time increase the yield of the crops grown.

Unmanned aerial vehicles (UAVs) equipped with multispectral imaging devices are known from FR 3006296 and WO 2014/202777. These remotely piloted UAVs fly over agricultural areas to collect data and create maps related to the health of said crops.

The disadvantage of such robots is the need for a nearby qualified operator to remotely control the UAV, often due to legal restrictions. Therefore, these robots cannot perform site diagnostics offline. In addition, due to their movement at altitude, UAVs are unable to scan the underside of vegetation, which limits the nature of the data collected.

WO 2014/111387 also discloses an automated agricultural robot that provides data acquisition capabilities for precision agriculture and includes motion optimization means for moving non-randomly between rows of crops. Robots capable of mapping agricultural plots are also presented in document RU 2633431. However, the design of these robots leads to damage to the crops through which they pass.

Similarly, WO 2017/002093 describes a robot designed for automatic weed control and comprising an image acquisition system for data collection. WO 2006/063314 also describes a robot equipped with sensors for measuring site parameters. However, the size and dimensions of these robots also cause damage to crops as they pass.

WO 2019/040866 describes an autonomous robot for plant phenotyping in the field, containing a multispectral sensor and designed to avoid damage to plantings. However, the embodiment described herein proposes a robot comprising four wheels, which is only suitable for crops grown in rows between which the robot can move, particularly corn. However, this robot is not suitable for crops that do not grow in rows, since in this case it will inevitably damage the crops.

Object of the invention

Therefore, the aim of the present invention is to overcome the shortcomings of the prior art by developing an autonomous robot capable of fully scanning an area for diagnostic purposes and adapted to many types and phenological phases of crops, especially for crops not in rows, while limiting it to the greatest possible extent. impact on crops.

Brief description of the invention

To solve this problem, the present invention proposes an autonomous robot containing a body made elongated along an axis transverse to the direction of movement of the robot, and attached to the elongated body:

multispectral sensor;

exactly two wheels;

a stabilizing device for controlling the angle of inclination of the elongated body when the wheels are in motion.

According to the present invention, the wheels are in the form of spoked wheels.

Compared to robots of the prior art, such a robot has the advantage that it only has two wheels, which makes it possible to minimize the impact on crops when passing. The fact that the wheels are shaped like spokes minimizes the contact surface area between the robot and the soil and allows the robot to step over plants without crushing or knocking them over, further limiting the impact of the wheels. The imbalance caused by the restriction of two wheels is compensated by the presence of a stabilizing device.

According to other advantageous and non-limiting features of the invention, individually or in any technically possible combination:

- 1 044171 the elongated body has essentially the shape of a parallelepiped or cylinder with an axis transverse to the direction of movement of the robot;

the autonomous robot also contains at least one motor configured to drive wheels;

the engine is built into an elongated body;

the autonomous robot contains two motors, each of which is connected to a wheel;

the autonomous robot also contains energy storage means to power the motor;

the energy storage means is built into a sealed compartment which is provided with a lid and attached to the elongated body;

an autonomous robot has the ability to move in the direction of movement and the center of gravity is located behind the transverse axis relative to the direction of movement;

the stabilizing device is a rod;

the rod is a curved rod comprising a straight proximal portion and a curved distal portion, the proximal portion being connected to the elongated body and the distal portion being designed to be in contact with the ground during the movement of the wheels;

the far part of the rod contains a chamber;

the rod is a rod configured to rotate around the axis of the proximal part;

the stabilizing device contains means for moving the center of gravity of the robot in both directions from the transverse axis;

the stabilizing device is formed by a rack and pinion system, allowing the rack to move along the direction of movement of the robot, wherein the gear wheel is attached to the elongated body, and the rack is formed by the elongated rod;

the wheel spokes are inclined relative to the axis of the elongated body;

Each spoke is equipped with a shoe to reduce the impact of the wheel on the soil.

Brief description of drawings

Other features and advantages of the invention will become apparent from the following detailed description of the invention with reference to the accompanying drawings, in which:

fig. 1a is an isometric view of an autonomous robot according to a first embodiment of the invention;

fig. 1b is a side view of an autonomous robot in accordance with the first embodiment of the invention;

fig. 1c is an isometric view of an autonomous robot according to a second embodiment of the invention;

fig. 2 is an isometric view of the interior of an elongated body of an autonomous robot according to the invention.

Carrying out the invention

To simplify the following description, elements that are the same or perform the same function in different embodiments of the invention are designated by the same reference numerals.

General description of an autonomous robot.

In fig. 1a, 1b and 1c show, respectively, an isometric view and a side view of the autonomous robot in the first embodiment of the present invention, and an isometric view of the autonomous robot in the second embodiment of the present invention.

Such a robot 1 can be used in particular in the agricultural field to collect data from an agricultural plot. For example, this may be data that makes it possible to characterize the nutrient requirements of plants located in a given area or determine the presence of hostile biological factors (weeds, diseases, pests, etc.) within the area.

As used herein, by autonomous we mean that the robot 1 is capable of performing a number of automated tasks without the need for human intervention, either physical or through remote control. In particular, the robot can be programmed to move within the site without assistance and independently determine its location, for example, through a built-in geolocation system, in order not to leave the perimeter of this site. The robot can also be programmed to determine its location relative to surrounding objects and avoid collisions, for example, with other robots, people or vehicles. For this purpose, it may contain non-contact sensors such as sonar (acoustic locator) or lidar (laser locator) or other instruments well known in themselves. It can also be programmed to collect data at regular intervals.

For this purpose, the autonomous robot 1 is equipped with an on-board computer system 2, visible in FIG. 2, containing, in particular, a processor, a memory unit and all other computing resources that provide the robot with the ability to interpret and execute commands that could be specified by the user. Such on-board computer system 2 and such commands are traditional and known to the person skilled in the art, and therefore are not discussed in the present description.

The autonomous robot 1 of the invention is designed to minimize the impact of its passage on crops being grown and to cover significant distances, with a typical coverage of 20 hectares per day, while being robust enough to carry out commands on any terrain. For this purpose, the autonomous robot 1 has a low mass, preferably less than 20 kg or less than 15 kg, or even less than 10 kg. The advantage of low mass is that it limits both plant damage and soil compaction, which kills microbial life.

Returning to the description of FIG. 1a, 1b and 1c, the autonomous robot 1 proposed in the invention contains a body 3 elongated along an axis transverse to the direction of movement of the robot 1.

The elongated body 3 preferably has a substantially parallelepiped or cylinder shape, the axis of which is transverse to the direction of movement, to minimize its volume and overall dimensions.

The robot 1 also contains two wheels 4 attached to the elongated body 3, located on each side of the elongated body 3 along the transverse axis. According to the invention, the robot 1 contains exactly two wheels, i.e. it does not have a third wheel or additional wheels that can increase ground damage as it passes.

According to the invention, the wheels 4 are made in the form of spoked wheels. The spoke wheel is composed of a hub 4a directly connected to the elongated body 3 and a plurality of spokes 4b attached to the hub 4a and extending radially from the hub 4a. The spoke wheel 4 does not have any member connecting the spokes 4b, such as a rim or tire, except for the hub 4a.

This shape of the wheel 4 gives it an advantage over wheels typically described in the prior art, since it limits the contact surface between the robot and the soil and avoids flattening of plants as the robot passes, the spokes of which step over the plants when the robot 1 is in motion. .

The number of spokes 4b can vary and can preferably be from six to twenty, preferably eight, ten or twelve spokes. Likewise, the size of the spokes 4b can be adjusted according to the needs and nature of the area, and preferably can be from 20 cm to 1 m. In particular, the size of the spokes can be selected depending on the nature of the surfaces, so that the elongated body 3 of the robot 1 is located above these surfaces and thereby minimized the impact of its passage on crops. The spokes 4b may all be the same size to give an overall round shape to the wheel 4. However, this choice does not limit the scope of the invention in any way, and to give a different shape to the wheel 4 it may be preferable to make the spokes 4b of different sizes from each other, for example, by alternating longer and shorter radii.

In general, the number and size of 4b spokes determine the space between two points of contact with the soil, as well as stepping over plants. Thus, they can be adjusted according to the needs of the user and the nature of the site and plants, as well as the phenological phase of the current crop on the site. This gives Robot 1 significant modularity, as well as greater adaptability to different types of terrain.

It is particularly advantageous that each spoke 4b may be provided with a shoe 4c to reduce the impact of the wheel 4 on the ground. Thus, such shoes 4c are shaped to minimize their penetration into loose soil, as shown in FIG. 1a-1c. It is also possible to produce more complex shoes, such as those described in WO 94/20313.

The size of the shoes 4c is also preferably selected to limit the contact surface with the soil while avoiding sinking into the soil. Typically, the surface area of the shoes can be from 10 to 20 cm ² and, for example, they are 2 cm wide by 6 cm long.

It is possible to perform a negative camber of the wheels 4, in which the plane formed by the spokes 4b of the wheels 4 is inclined with respect to the axis of the elongated body 3, and the angle formed between the inner side of the wheels 4 and the soil is an acute angle. Such a negative camber angle, preferably between -1° and -20°, gives the robot 1 improved ground support, in particular when making turns. Preferably, if the engine has driven the wheels 4, then all the mechanical parts involved in the movement of the wheels, namely the engine, the hub 4a and the spokes 4b, become tilted. This makes it possible to limit the wear of these mechanical parts when the wheels 4 are in motion.

The material for making the spokes 4b is preferably selected from among lightweight and inexpensive materials, examples of which are carbon fiber, fiberglass or, preferably, aluminum. It is preferable for the material to be relatively flexible, such as aluminum, to absorb and absorb the shock associated with negotiating obstacles. This flexibility avoids the risk of the spoke bending or breaking after an impact.

In fig. 2 is an isometric view of the interior of the elongated body 3 in accordance with a preferred embodiment of the present invention.

The robot 1 may include a motor 5 configured to drive wheels

- 3 044171

4. Thus, the robot 1, when it moves forward, moves in the direction of motion according to which it is moving.

The motor may preferably be built into an elongated housing 3, as seen in FIG. 2, which makes it possible to protect the engine 5 from external aggressive factors (water, dust, etc.). If the on-board computer system 2 is also integrated into the elongated housing 3, it can be electrically coupled to the motor 5 to provide it with commands relating to driving the wheels 4. Of course, the invention is in no way limited to such arrangements and the motor 5 can be positioned outside the elongated body 3 and, for example, can be attached to the wheel 4.

Robot 1 may contain one single motor 5, which simultaneously drives two wheels 4.

However, in the preferred embodiment of the invention shown in FIG. 2, the robot 1 contains two motors 5, each of which is connected to one wheel 4. In this situation, the two motors 5 can independently drive the wheels 4. This design is especially relevant for providing the robot 1 with the ability to turn, since then it can lock one wheel 4 while the other wheel 4 continues to move forward, with the first wheel serving as the center of rotation around which the robot 1 will turn. The robot 1 can also make a half-turn in the form of a 180° turn in place, since it is possible to rotate one wheel 4 in one circumferential direction, and the other wheel 4 at the same time in another direction. This feature allows robot 1 to occupy minimal space when changing direction, which is especially useful in the case of crops that do not grow in rows.

The robot 1 may also include energy storage means 6, such as a battery. In particular, it may be a lead, nickel or lithium battery.

Preferably, the battery 6 may be incorporated into a sealed compartment 7 provided with a cover 7a allowing access to the battery 6, the sealed compartment 7 being attached to the elongated housing 3. Alternatively, the battery 6 may also itself form a cover 7a. The sealed compartment 7 is preferably attached to the elongated body 3 at the rear along the direction of movement to shift the center of gravity of the robot 1 rearward from the transverse axis with respect to the direction of movement. The advantage of such a feature will be described in the following description.

The battery 6 makes it possible to supply the entire electrical system and, in particular, the on-board computer system 2 and the engine(s) 5.

Robot 1 can be equipped with photovoltaic panels (not shown in the drawings) to supply electrical energy to the battery 6 and recharge it, which makes it possible to increase the autonomy and operating time of the robot 1. These photovoltaic panels can be located on the elongated body 3, on a sealed compartment 7 or in the central area outside the wheels 4.

The robot 1 may also include a switch 8 located on the outside of the elongated body 3 and connected to the on-board computer system 2, allowing the system to be turned on or off, or, more generally, to interact with electrical components. In this regard, the robot 1 may include a battery monitoring system, commonly referred to as a battery management system (BMS), which allows the charging status of the battery or, more generally, the functional status of the device to be seen. This system may have an interface in the form of an indication system, such as an LED or liquid crystal display.

Stabilizing device.

Returning to the description shown in FIG. 1a-1c, the autonomous robot 1 also includes a stabilizing device 9 for controlling the tilt (ie, the angle of deviation from the horizontal plane, also called pitch) of the elongated body 3 when the wheels 4 are in motion.

The presence of two wheels 4, which makes it possible to limit the impact of the robot 1 on agricultural crops, inevitably leads to an imbalance of the elongated body 3 when the robot 1 moves. In addition, the spoke shape of the wheels 4 requires one step for each spoke. Thus, the applicant noted that the low mass of the elongated body 3, even if increased by the mass of the battery 6, is insufficient to provide the wheels with the ability to perform a step. During operation of the engine(s) 5, the inventors discovered that the rotation around its own axis is performed by the elongated body 3, and not by the wheels 4.

First embodiment of a stabilizing device.

In the first embodiment shown in FIG. 1a and 1b, the center of gravity of the autonomous robot 1 is kept fixed behind the transverse axis with respect to the course of movement, for example, due to the fact that the sealed compartment 7 is attached to the rear of the elongated body 3.

In this embodiment, the stabilizing device 9 is a passive stabilizing device formed by the rod. The rod 9 is preferably located behind the elongated body 3, for example, rigidly attached to the sealed compartment 7, and is designed to come into contact with the ground when the robot 1 is in motion. In this way, the rod 9 counteracts the torque generated by the motor(s) 5 and allows the elongated body 3 to be locked at a certain angle of inclination, causing the wheel 4 to rotate and preventing the elongated body 3 from rotating around itself.

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Preferably, as can be clearly seen in Fig. 1b, the rod 9 is a curved rod having a straight proximal part 9a and a curved distal part 9b, i.e. the end of the rod is oriented and raised upward, as can be clearly seen in FIG. 1b. The proximal part 9a is connected to the elongated body 3 and is preferably rigidly attached to the sealed compartment 7. The purpose of the distal part 9b is to be in contact with the ground, in particular when the wheels 4 are in motion. The curved shape of the part of the rod in contact with the soil allows you to limit its impact on agricultural crops and not snag, scratch or uproot plants that are in the path of the robot 1. In addition, this curved shape allows you to avoid immersion of the rod 9 into the soil, because when the specified distance the end begins to sink into the soil, the contact surface area of the distal end 9b with the soil increases. This property is a great advantage, in particular in the case of loose soil, which often happens in agricultural areas.

The distal part of the rod, at least on the curved part, preferably has an oval or circular cross-section to form a point contact (in the case of hard ground) and improve sliding over obstacles.

The low mass of the robot 1 prevents the rod 9 from creating furrows in the soil, which could occur if there was a third wheel. The presence of the rod also made it possible to eliminate the bogging phenomena observed when using an additional wheel.

The rod 9 is preferably a rotatable rod capable of rotating about an axis formed by the straight proximal part 9a of the rod 9. Therefore, the rod 9 is not fixed during the movement of the robot 1 and can follow the movement of the said robot, in particular when it makes a turn without leaving marks on the ground. Thus, when encountering an obstacle or while the robot 1 is making a turn, the rod 9 can freely rotate around its axis instead of sliding and/or translational movement in a manner strictly associated with the movement of the robot, while flattening any nearby objects. plants. To limit the angular movement of the rod, stroke limiters can be provided.

As an alternative to this embodiment, in which the rod is free to rotate about its axis, the rotation of the rod 9 can be controlled by the on-board computer system 2 for controlling the position of the rod 9, as explained in detail below.

The proximal portion 9a may be secured perpendicular to the sealed compartment 7 and held in a substantially vertical position when the robot 1 is in motion to ensure that the compartment 7 and elongated body 3 maintain a substantially horizontal position, protecting elements built within them from becoming too large. and tilt amplitudes. The proximal portion 9a may also be tilted rearward with respect to the direction of travel to soften the contact between the distal portion 9b and the ground, and the angle between the proximal portion 9a and the elongated body 3 should be close to 90°. To avoid applying excessive force to the connecting parts between the sealed compartment 7 and the rod 9, such as ball bearings in particular.

Second embodiment of the stabilizing device.

In the second embodiment shown in FIG. 1c, the stabilizing device 9 is an active stabilizing device and includes means for moving the center of gravity of the autonomous robot 1 on either side of the transverse axis in the direction of movement.

This embodiment makes it possible to adjust at any time the position of the center of gravity of the robot 1 with respect to the elongated body 3 to control the inclination of said body.

In particular, at the moment the robot 1 is set in motion, the stabilizing device 9 can shift the center of gravity from the transverse axis forward along the course of movement in order to unbalance the robot 1 and allow it to move. Once the propulsion has taken place, the center of gravity is restored back towards the transverse axis to establish a new equilibrium.

Then, when the robot 1 is in motion, the stabilizing device 9 forms a counterweight necessary for the spokes 4b to produce a step, while the dynamic displacement of the counterweight allows the movement to occur. Thus, during movement, the center of gravity constantly swings between the front (along the course of movement) of robot 1, which allows it to move forward, and the back of robot 1, to limit its excessive acceleration.

Displacement of the counterweight towards the rear of the robot, considered as such in the normal course of movement of the robot 1, in combination with a change in the direction of rotation of the wheels 4, controlled by the motor(s) 5, can also provide the ability to drive the robot 1 in the opposite direction. This operation allows the robot 1 to reverse along the same path without having to make a U-turn to reverse its direction of movement.

The stabilizing device 9 is preferably formed by a rack and pinion mechanism 9, allowing the rack to move in the moving direction of the robot 1.

In this situation, the gear wheel is attached to the elongated housing 3. The gear rack is formed

- 5 044171 with an elongated rod that forms a counterweight.

Moving the rack along the direction of movement of the robot 1 makes it possible to control the offset of the counterweight and the distance from the center of gravity to the transverse axis of the elongated body 3.

This movement may be mechanical in order to maintain the equilibrium position and maintain the elongated body at a certain angle of inclination. However, it is also possible to automate this movement, in which case the movement of the rack is controlled by the on-board computer system 2, either in accordance with preset commands or based on parameters of the current situation. For example, commands may be provided in the on-board computer system 2 to control slight imbalance of the elongated body 3 during its propulsion and then to control the dynamic equilibrium during movement. This dynamic equilibrium may take into account, in particular, uneven ground conditions or slopes that could disturb the equilibrium of the robot 1. For this purpose, the on-board computer system 2 can be connected to an inertial navigation system (not shown in the drawings), consisting of an inclinometer, an accelerometer and/or gyroscope and attached to an elongated body 3.

Data collection.

The autonomous robot 1 according to the invention is designed to collect data from its environment, for example to detect the presence of weeds or insects, or to detect radiation emitted by plants. Analyzing the radiation emitted by plants makes it possible to monitor plant nutrient requirements, in particular water demand and nitrogen percentage. This last aspect is known in particular from WO 99/19824 and is not discussed in detail in the present description.

The autonomous robot 1 can collect data if it has at least one multispectral sensor 10.

The use of multispectral sensors in the field of precision agriculture is well known as such and, therefore, is not explained in detail within the scope of this description.

This multispectral sensor 10 may be located within the elongated housing 3 and may be coupled to an on-board computer system 2 to receive commands, and to a battery 6 to provide electrical power. The multispectral sensor 10 is preferably located on the underside of the elongated body 3 to enable analysis of the vegetation over which it overhangs and which is thereby exposed to its view. Of course, the invention is not limited to this location. Moreover, the robot 1 may contain a plurality of multispectral sensors.

The autonomous robot 1 may also contain other data collection tools such as visible or infrared cameras. Thus, the cameras can be built into the elongated body 3, into a sealed compartment 7, or even attached to one of the spokes 4b.

Preferably, if the stabilizing device 9 is formed by a curved rod, then the distal part 9b of the rod 9, and especially its free end, can also contain a chamber 9c. This location makes it possible to have a camera very close to the soil and oriented upward, and thus collect data from the underside of the plant canopy. In addition, if the rod is controlled by the on-board computer system 2, the rotational nature of the rod 9 allows for a very wide exploration of the environment around the robot 1.

Optionally, the distal portion 9b of the rod 9 may also include an LED or other light source for illuminating the underside of the vegetation to improve the quality of images captured by the camera 9c, for example, by reducing any possible shadow effects.

Robot 1 may also include a device for recording data collected by data collection tools. This recording device may be built into the elongated housing 3 and connected to the on-board computer system 2 to receive recording commands. The recording device may be a removable recording card (or may be associated with it), such as an SD (Secure Digital) memory card, which can be removed by the user from the robot 1 to recover collected data and analyze it, or directly recover the analyzed data by the data analysis device.

The robot 1 may thus also include a data analyzer coupled to a recording device or on-board computer system 2, allowing the collected and recorded data to be analyzed and the results of the analysis to be recorded on the recording device.

Alternatively or in addition, the recording device may include wireless communications technology such as Bluetooth®, Wi-Fi™, 2G, 3G, 4G, 4G+, 5G, ZigBee™, LoRa® and/or Sigfox™ technologies, for example, to allow collected or analyzed data to be transmitted remotely to the user.

Of course, the invention is not limited to the embodiments described above, and additional variations and modifications are possible within the scope of the invention as defined by the appended claims.

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In particular, the invention is not limited to the described embodiments of stabilizing devices. It is entirely possible to provide stabilizing devices other than a rod or rack and pinion mechanism, such as an active gyroscope or pendulum.

Claims (9)

1. Autonomous robot (1), containing a body (3), made elongated along an axis transverse to the direction of movement of the robot (1), and attached to the elongated body (3): multispectral sensor (10); exactly two wheels (4), containing spokes and not having any other element connecting these spokes, with the exception of the hub; a stabilizing device (9) for controlling the tilt of the elongated body (3) when the wheels (4) are in motion, while the stabilizing device (9) is formed by a curved rod containing a straight proximal part (9a) and a curved distal part (9b), while the proximal part (9a) is connected to the elongated body (3), and the distal part (9b) is designed to be in contact with the soil when the wheels (4) are in motion, and the rod is a rod configured to rotate around the proximal axis parts (9a). 2. An autonomous robot according to the previous paragraph, further comprising at least one motor (5) configured to drive wheels (4). 3. An autonomous robot according to the previous paragraph, in which the motor (5) is built into an elongated body (3). 4. Autonomous robot (1) according to claim 2 or 3, containing two motors (5), each motor connected to a wheel (4). 5. Autonomous robot (1) according to any one of claims 2-4, further comprising energy storage means (6) for powering the motor(s) (5), and the energy storage means (6) are built into a sealed compartment (7) equipped with cover (7 a) and attached to the elongated body (3). 6. Autonomous robot (1) according to any of the previous paragraphs, having the ability to move in the direction of movement and a center of gravity located behind the transverse axis relative to the direction of movement. 7. Autonomous robot (1) according to the previous paragraph, in which the distal part (9b) of the rod (9) contains a camera (9c). 8. Autonomous robot (1) according to any of the previous paragraphs, in which the plane formed by the spokes (4b) of the wheels (4) is inclined relative to the axis of the elongated body (3). 9. Autonomous robot (1) according to any of the previous paragraphs, in which each spoke (4b) is equipped with a shoe (4c) to reduce the impact of the wheel (4) on the soil.