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
  • A01B39/00—Other machines specially adapted for working soil on which crops are growing
  • A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
  • A01B39/16—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for working in vineyards, orchards, or the like ; Arrangements for preventing damage to vines
• • 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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
  • B60W60/001—Planning or execution of driving tasks
  • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D49/00—Tractors
  • B62D49/06—Tractors adapted for multi-purpose use
  • B62D49/0607—Straddle tractors, used for instance above vine stocks, rows of bushes, or the like
• • 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
  • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
• • 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
  • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
  • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
• • A—HUMAN NECESSITIES
  • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
  • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
  • A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
  • A01G17/02—Cultivation of hops or vines
  • A01G17/023—Machines for priming and/or preliminary pruning of vines, i.e. removing shoots and/or buds
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2300/00—Indexing codes relating to the type of vehicle
  • B60W2300/15—Agricultural vehicles

Definitions

• the present invention belongs to the field of agriculture, and in particular autonomous agricultural machines. It relates more particularly to autonomous agricultural robots comprising an obstacle characterization device, a method for securing and a method for carrying out a mapping of an associated crop plot.
• the invention is aimed, for example, at agricultural equipment having automated or autonomous functions, whether they are dedicated to agriculture, in particular to row cropping, such as vines.
• the maintenance of these crops includes various operations such as weeding, hoeing, suckering, or even trimming.
• the maintenance of these agricultural crops is increasingly carried out by automated agricultural robots, generally equipped with specific maintenance tools (removable or not).
• these automated agricultural robots still currently require the permanent presence of an operator, who supervises these maintenance operations. Indeed, the environment in which these maintenance operations are carried out is outdoor and open. Therefore, when the automated agricultural robot moves between the rows of vines, unpredictable obstacles, whether other elements of the environment or the presence of agricultural workers nearby, may present themselves in front of it.
• some obstacles may be concealed, for example by leaves, and therefore undetectable by a 2D or 3D vision system.
• these technologies do not protect against the appearance of false obstacle detection, for example a simple tuft of grass could be perceived as an obstacle.
• Another solution based on heat detection, in particular with a view to detecting a human being, could also be envisaged. However, this solution would prove to be unusable during the high heat of summer, when the temperature of the elements of the environment would approach the body temperature of a human being.
• the mapping of a crop plot is an essential operation in order to precisely locate the location of the vines, for example.
• This map is then transmitted to the autonomous agricultural robot so that it proceeds to the treatment of the vines in a precise manner.
• image processing technologies from drones, equipped with multispectral sensors. These sensors measure the radiation of the vines in the near infrared to estimate the quality of photosynthesis.
• these technologies are very expensive because they require state-of-the-art equipment and very complex image processing.
• the present invention aims to overcome the drawbacks of the prior art set out above, by proposing a simple solution, making it possible to characterize the obstacles for an autonomous agricultural robot.
• the present invention aims to provide a method for securing said autonomous agricultural robot so that it can stop autonomously so as not to damage or be damaged by an obstacle in its path.
• the present invention aims to provide a reliable, robust mapping solution, based on a mechanical device.
• the subject of the present invention is an autonomous agricultural robot, called a robot, comprising a straddle frame defining a passageway for a row of crops, means for moving the robot in a direction of advancement, a control unit of the robot, said robot comprising an obstacle characterization device comprising obstacle detection means configured to detect an obstacle situated on a path of the robot, a processing unit configured for, when an obstacle is detected by the means of detecting obstacles, recording the data detected by said obstacle detection means, and/or processing the data detected by said obstacle detection means and determining at least one characteristic of the detected obstacle.
• an obstacle characterization device comprising obstacle detection means configured to detect an obstacle situated on a path of the robot
• a processing unit configured for, when an obstacle is detected by the means of detecting obstacles, recording the data detected by said obstacle detection means, and/or processing the data detected by said obstacle detection means and determining at least one characteristic of the detected obstacle.
• the invention also responds to the following characteristics, implemented separately or in each of their technically effective combinations.
• the at least one characteristic of the detected obstacle is chosen from among a position of the detected obstacle with respect to a reference frame of the robot or even an apparent dimension of the detected obstacle.
• the robot is then able to characterize the detected obstacle, either by its location and/or its apparent size.
• the processing unit of the robot is configured to check whether the at least one characteristic satisfies a predefined criterion.
• the robot is able to make a classification between the obstacles, depending on whether the at least one characteristic satisfies the predefined criterion.
• This criterion can be in a non-limiting manner, a list of locations, or even a maximum apparent dimension.
• the means for detecting obstacles of the robot comprise two arms, mobile and arranged respectively on either side of a median longitudinal plane of the passageway, and two sensors, one sensor per arm, each sensor being configured to detect a change in position of the associated arm.
• This embodiment has the advantage of detecting at least one characteristic of the obstacle mechanically.
• the obstacle characterization device comprises a two-arm return system configured to return said two arms to the rest position when the force which moved said arms to an intermediate position is eliminated.
• Said reminder system advantageously makes it possible to reinforce the autonomy of the device by ensuring its closing in an autonomous manner.
• the two arms of the robot are mobile in rotation, along an axis parallel to the median longitudinal plane of the passageway and the two sensors are angular sensors. This embodiment advantageously makes it possible to detect at least one characteristic of the obstacle in a robust manner.
• said two arms when the two arms are in the so-called rest position, said two arms are arranged in the same plane transverse to the direction of advancement.
• Said arms comprise a first and a second arm, the first arm comprising a first end and a second opposite end, the second arm comprising a first end and a second opposite end, said second ends of each arm being positioned facing each other one from the other.
• This embodiment has the advantage of covering the total width of the passageway, and therefore of being able to detect the obstacles located on said passageway. In addition, it makes it possible to limit the size of the obstacle characterization device.
• said two arms are in the form of a longitudinal bar, and, when the arms are in the rest position, each arm has: - a length (L) along a longitudinal axis parallel to the direction of advancement of the robot,
• each arm having over a length (L1) from the second end a reduced height (H1), such that, in the rest position, the reduced-height parts of each arm overlap one another.
• This embodiment has the advantage of characterizing the obstacles not being comprised substantially in the longitudinal plane of the passageway in a more precise manner compared to a configuration of the device for characterizing obstacles having arms not comprising parts at reduced height overlapping one on the other.
• the two arms are movable in translation, in a plane perpendicular to the median longitudinal plane of the passageway, the two sensors are linear displacement sensors.
• the at least one characteristic of the detected obstacle can also be the sum of the angles of the two arms or the sum of the movements of the two arms.
• the present invention also relates to a method for securing a robot comprising, when an obstacle is detected by the obstacle detection means, the steps of:
• the invention also meets the following characteristics, implemented separately or in each of their technically effective combinations
• the processing step includes the calculation of the apparent dimension of the obstacle detected, the predefined criterion being satisfied when the calculated apparent dimension does not exceed a predefined value.
• This predefined value can be the maximum diameter of a vine stock in the context of non-limiting use of the robot in a vineyard.
• the robot stops only for obstacles with an apparent size greater than that of a vine stock.
• the process for producing a map of a crop plot can advantageously constitute a mapping step prior to the security process.
• said method comprises, when an obstacle is detected by the obstacle detection means, the steps of:
• the latter comprises a prior step of producing a map georeferenced of a crop plot with a location of acceptable obstacles.
• This preliminary step of producing a georeferenced map of a crop plot with a location of the acceptable obstacles thus makes it possible to make a distinction between the acceptable obstacles and the unacceptable obstacles, and to cause the robot to stop only in the event of detection of an unacceptable obstacle.
• the step of transmitting an instruction to stop the robot is conditional on the additional verification that the obstacle detected is not one of the obstacles acceptable.
• FIG. 1 schematically represents a non-limiting example of an autonomous agricultural robot 100.
• autonomous agricultural robot or “robot” will be used interchangeably to designate the autonomous agricultural robot 100.
• the robot 100 further comprises means 40 for moving it in a direction of advancement.
• the autonomous agricultural robot 100 will be associated with an XYZ reference frame, called a robot reference frame.
• This robot reference has three orthonormal axes C, U, Z.
• This robot reference is defined with respect to a relative position of the autonomous agricultural robot 100 under standard conditions of use, in particular when its means of movement 40 are in contact with the ground.
• transverse axis perpendicular to the longitudinal axis, and oriented in a horizontal direction when its displacement means 40 are in contact with the ground
• a Z axis perpendicular to the longitudinal axis and to the transverse axis, and oriented in a vertical direction.
• the straddle frame 30 comprises a front part, a rear part and two lateral sides, called the first lateral side and the second lateral side.
• the front and rear parts are defined with respect to the direction of advance of the robot 100.
• the moving means 40 of the robot are arranged at the level of the two lateral sides of the straddle frame 30.
• the robot 100 can have different sizes in order to adapt to different types of crops.
• the width of the robot 100 is dimensioned so that the means of movement 40 move on either side of a row of crops or plantations.
• the height of the robot 100 is dimensioned so that the straddle frame 30 spans the crop row.
• the displacement means 40 advantageously allow the robot 100 to move forward, to turn, to make a U-turn.
• the displacement means 40 are conventionally connected to the straddle frame 30 via trains, not shown here.
• the moving means 40 are formed by wheels.
• the displacement means 40 are formed by four wheels, two wheels arranged at each lateral side of the straddle frame 30.
• a wheel called the front wheel
• a wheel called the rear wheel
• the robot 100 includes a bumper 90 positioned upstream of each front wheel with respect to the direction of travel.
• the bumpers 90 advantageously make it possible to protect the robot by absorbing shocks when an obstacle presents itself in front of said front wheels.
• the bumpers 90 are preferably arranged at a low height relative to the ground. In an exemplary embodiment, the bumpers 90 are located about ten centimeters from the ground.
• the movement means 40 are preferably associated with at least one motor which allows the robot 100 to move forward at a predefined speed and adapted in particular to the constraints of the terrain and the crop in which the robot 100 is moving.
• the maximum forward speed of the robot 100 is 6 km/h.
• the robot 100 comprises an agricultural tool 80. Said agricultural tool makes it possible to carry out crop maintenance operations.
• This agricultural tool 80 can for example be a weeding, suckering, stripping or trimming tool.
• the agricultural tool 80 is a weeding tool. It has two weeding heads intended to stir up the soil on either side of the vines.
• the agricultural tool 80 is preferably positioned under the straddle frame 30, for example between the front wheels and the rear wheels in order to limit the size of the robot 100.
• Said agricultural tool is for example connected to the straddle frame 30 via attachment means.
• the attachment means are reversible, in order to be able to change agricultural tools easily.
• the robot further comprises a control unit 50.
• This control unit 50 is configured in particular to allow the robot 100 to operate autonomously.
• the control unit 50 is preferably associated with the displacement means 40, the bumpers 90, the engine, the agricultural tool 80.
• the control unit 50 is for example a computer, a mini-computer or any other computer element of the same type.
• the control unit 50 allows an operator to program the robot 100, for example to make it move forward, maneuver, stop according to a set of predefined conditions.
• Said control unit is configured in particular to control the displacement means 40.
• control unit 50 is programmed such that when a bumper encounters an obstacle, said control unit causes the robot 100 to stop.
• the robot 100 includes a location system. Said localization system makes it possible to locate the robot 100 in the environment in which it evolves.
• the navigation system is preferably connected to the control unit 50.
• the robot 100 comprises a device for characterizing obstacles, also referred to by the term "device" in the remainder of the description.
• the obstacle characterization device is intended to allow the robot 100 to evolve in an even more autonomous and safe manner, in particular in an environment where obstacles, such as animals, may be in the path of the robot 100.
• This device comprises obstacle detection means 10 configured to detect an obstacle located on a path of the robot 100.
• the obstacle detection means 10 are arranged on the robot 100 in order to detect an obstacle located in the passage corridor defined by the straddle frame, upstream or downstream of said passageway according to the direction of advancement of the robot.
• the obstacle detection means 10 are advantageously arranged, according to the direction of advancement of the robot, upstream or at the level of the front part of the straddle frame 30, preferably in upstream of the agricultural tool 80.
• This device further comprises a processing unit 20.
• said processing unit is configured to, when an obstacle is detected by the obstacle detection means 10, record the data detected by the obstacle detection means 10.
• the processing unit 20 is configured to, when an obstacle is detected by the obstacle detection means 10, process the data detected by the obstacle detection means 10 and determine at least a characteristic of the detected obstacle.
• said processing unit is configured for, when an obstacle is detected by the obstacle detection means 10:
• a characteristic of the detected obstacle is the position of said detected obstacle with respect to the robot reference frame.
• a characteristic of the detected obstacle is the apparent dimension of said detected obstacle.
• the two arms are arranged respectively at a lateral side of the straddle frame 30.
• the first arm 11 has a first end 111 and an opposite second end 112.
• the second arm 12 has a first end 121 and an opposite second end 122.
• the two arms 11, 12 are hollow and/or made of composite material.
• the two arms 11, 12 are not made of a metallic material.
• the two movable arms 11, 12 are telescopic. This embodiment advantageously allows the obstacle detection means 10 to adapt to robots 100 having different widths.
• the two arms 11, 12 are arranged in the same YZ plane.
• the arms are sized along the Y axis in the rest position, so that the second ends of each arm are facing each other.
• the second ends of each arm are located near one the other.
• the second ends of the two arms 11, 12 of the obstacle detection means 10 are spaced apart by a few millimeters, preferably less than 5 mm, in the rest position.
• each arm has, over a length L1 from its second end, a reduced height H1.
• the two arms 11, 12 are positioned so that, in the rest position, the reduced-height parts of each arm overlap one on the other along the Z axis.
• each arm 11, 12 has a length L.
• Each arm 11, 12 comprises two parts. A first part which has a length L1 which starts from the second end 112,122 of each arm 11,12. The first part has a height H1, and is called a reduced-height part.
• a second part of each arm 11, 12 has a length equal to (L-L1) and a height H. The two parts have the same thickness e.
• each arm 11,12 is such that each arm 11,12 extends beyond the longitudinal plane of the passageway.
• This particular shape of the two arms 11, 12 advantageously makes it possible on the one hand to limit the size and weight of the obstacle detection means 10 on the robot 100, and on the other hand to accelerate the return of the two arms 11 , 12 in the rest position.
• This embodiment has the advantage of characterizing the obstacles not being included substantially at the level of the longitudinal plane of the passageway in a more precise manner compared to a configuration of the obstacle characterization device having arms not comprising parts with reduced height overlapping one on the other.
• the length L1 is advantageously chosen to make it possible to precisely characterize the off-centre obstacles, ie remote from the longitudinal plane of the passage corridor along the Y axis by a maximum distance equal to L1 divided by two. Nevertheless, the greater the length L1, the greater the time required for the detection of obstacles.
• the two position sensors 13, 14 are angular sensors.
• the first angular sensor 13 is arranged at the level of the first end 111 of the first arm 11 .
• the first angular sensor 13 is configured to measure the angular displacement of the first arm 11 with respect to the rest position, that is to say the measurement of the angle CM that the first arm 11 makes with respect to the rest position.
• the two arms 11, 12 are movable in translation, in a plane other than the median longitudinal plane of the passageway.
• the two arms 11, 12 are able to slide linearly in a direction of movement not aligned with the direction of advance.
• the two arms 11, 12 are mounted to move in translation along the Y axis relative to the connecting support 70.
• Each arm moves in a direction other than the direction of advancement of the robot 100.
• this direction is normal to the direction of advancement.
• Each arm can move respectively between the rest position and a so-called maximum opening position, in which the arm is offset transversely towards the outside of the robot 100.
• each arm is for example in the form of a longitudinal bar.
• the longitudinal bar has a length L along the X axis of the robot 100, a height H along the Z axis of the robot 100 and a thickness e along the Y axis of the robot 100.
• the two position sensors are linear displacement sensors.
• the first linear displacement sensor is arranged at the level of the first end of the first arm.
• the first linear displacement sensor is configured to measure the linear displacement of the first arm 11 with respect to the rest position, that is to say the measurement of the angle CM that the first arm 11 makes with respect to the rest position.
• the two arms 11, 12 are aligned along the Y axis in the rest position, in a non-limiting manner, when the first arm 11 is in the rest position, the first angular sensor is configured to measure a zero displacement di and when the first arm is in the intermediate open position, the first linear displacement sensor is configured to measure a positive displacement di.
• the second linear displacement sensor is disposed at the first end 121 of the second arm 12.
• the second linear displacement sensor is configured to measure the displacement d2 of the second arm 12 along the Y axis.
• the second linear displacement sensor is configured to measure a zero displacement d2 and when the second arm 12 is in an intermediate open position, the second linear displacement sensor is configured to measure a positive displacement d2.
• said obstacle detection means comprise a validation unit configured to validate the correct positioning of the two arms 11, 12, when said two arms are in a resting position.
• a validation unit advantageously makes it possible to ensure that one of the two arms 11 or 12 or the two arms 11, 12 are not deformed.
• this validation unit is composed of two proximity sensors. More specifically, a first proximity sensor 15 is positioned at the level of the second end 112 of the first arm 11 and oriented towards the second end 122 of the second arm 12. A second sensor 16 is positioned at the level of the second end 122 of the second arm 12 and oriented towards the second end 112 of the first arm 11 .
• the fact that the two arms 11, 12 are positioned so that, in the rest position, the reduced-height parts of each arm are superimposed on each other, makes it possible to guarantee more precise that the two arms are well positioned relative to each other and that there is no deformation of one or both arms, or that one of the two arms has broken.
• the first and second proximity sensors 15 and 16 are inductive proximity sensors.
• the two arms 11, 12 be made of a material other than a metallic material.
• the first proximity sensor inductive, is associated with an additional element, electrically conductive, fixed on the second arm 12. In the absence of deformation one or both arms 11, 12, the first proximity sensor 15 and the associated additional element 17 are arranged facing each other, when the two arms 11, 12 are in the rest position.
• the validation unit in other words the first and second proximity sensors 15, 16, is preferably connected to the control unit 50.
• the data transmitted by the first and second proximity sensors 15 and 16 can be transmitted by any known means of signal transmission, whether wired or not.
• the control unit 50 is configured to check that, when the data measured by the first and second position sensors 13, 14 are simultaneously zero, and therefore representative of the positioning of the two arms 11, 12 in the rest position, the data measured by the first and second proximity sensors 15 and 16 are representative of the positioning opposite the second ends of the two arms 11, 12.
• the return system comprises one return member per arm.
• the return system comprises a first return member for the first arm and a second return member for the second arm.
• Each return member is configured to generate a return force for the associated arm.
• Each return member is configured to bring the associated arm back towards the rest position when the effort that moved said arm to an intermediate position is removed.
• the first position sensor 13 can be replaced by two redundant first position sensors, arranged to measure the same value, and thus making it possible to improve the operating safety of the robot 100 in the event of failure of one of the two position sensors.
• the second position sensor 14 can be replaced by two redundant second position sensors arranged to measure the same value.
• the obstacle characterization device comprises a processing unit configured in particular to process the data detected by the obstacle detection means 10 and to determine at least one characteristic of the detected obstacle.
• the processing unit 20 can determine for example a position of the detected obstacle with respect to the reference frame of the robot 100 and/or an apparent dimension of the detected obstacle.
• apparent dimension of the detected obstacle is meant, for the mechanical version of the obstacle detection means, the spacing of the two second ends of the two arms 11, 12 when passing an obstacle.
• the processing unit 20 can also determine, for the first mechanical configuration of the obstacle detection means, the sum of the angles of the two arms 11, 12, or, for the second mechanical configuration of the obstacle detection means, the sum of the displacements of the two arms 11, 12.
• the processing unit 20 can be configured to check whether the at least one characteristic satisfies a predefined criterion.
• the control unit 50 can be configured to generate a stop command to the robot 100 when at least one characteristic of the detected obstacle does not satisfy the predefined criterion.
• the robot 100 has been described in a preferred version in which the obstacle detection means are mechanical detection means. It is also possible to envisage, without departing from the scope of the invention, making a robot 100 wherein the obstacle detection means are optical detection means.
• said optical detection means comprise two optical assemblies each comprising a laser transmitter and a laser receiver.
• the laser emitter of a first optical assembly is arranged at the level of the first lateral side of the straddle frame and is oriented towards the second lateral side.
• the laser receiver of the first optical assembly is positioned at the level of the second lateral side of the straddle frame 30, opposite the laser transmitter, so as to detect a light beam emitted by the associated laser transmitter when no obstacle does not cut the light beam.
• the laser transmitter of a second optical assembly is arranged at the level of the second lateral side of the straddle frame, close to the laser receiver of the first optical assembly, and oriented towards the first lateral side.
• the laser receiver of the second optical assembly is positioned at the first lateral side of the straddle frame, close to the laser transmitter of the first optical assembly, so as to detect a light beam emitted by the associated laser transmitter of the second assembly, when no obstacle cuts said light beam.
• the transmission is carried out by a wired connection, via the cables arranged in the hollow sections of the connection support 70.
• a characteristic of the detected obstacle can be the sum of the angles of the two arms 11, 12.
• a characteristic of the detected obstacle can be the sum of the displacements of the two arms 11, 12.
• the processing unit determines the dimension of the obstacle or the position of the obstacle from trigonometric calculations. Such trigonometric calculations are within the abilities of those skilled in the art and will not be described explicitly.
• the processing unit 20 checks whether the at least one characteristic of the detected obstacle satisfies a predefined criterion.
• the predefined criterion is satisfied when the calculated position does not exceed a predefined value.
• This predefined value can correspond for example to a maximum authorized positioning for the obstacle.
• the predefined value would be a maximum lateral offset of a vine stock in relation to an average alignment of a row of vine stocks. The processing unit thus compares the calculated position with the predefined value.
• the predefined criterion is satisfied when the calculated apparent dimension does not exceed a predefined value.
• This predefined value preferably corresponds to a maximum apparent dimension authorized for the obstacle.
• the predefined value would be a maximum diameter of a vine stock. Therefore, the method makes it possible to distinguish, in this preferred but non-limiting case of application, a vine stock to be treated from an obstacle whose apparent dimension would be greater than the diameter of the vine stock.
• the processing unit thus compares the calculated dimension with the predefined value.
• the predefined criterion is satisfied when the sum of the angles (or displacements) of the two arms 11, 12 calculated does not exceed a predefined value.
• This predefined value corresponds to the sum of the angles that the two arms 11, 12 would take for an obstacle of maximum authorized diameter, when said obstacle strikes and moves the two arms 11, 12.
• the maximum authorized diameter corresponds to that of a vine stock of the plot of vines treated.
• the processing unit 20 thus compares the calculated sum with the predefined value.
• the processing unit 20 transmits to the control unit 50 of the robot 100 an instruction to stop the robot 100 when the at least one characteristic does not satisfy the predefined criterion.
• the stop instruction is transmitted to the motor of the robot 100 which shuts down.
• This transmission can be carried out via any type of link, wired or not.
• a message can also be sent to the operator.
• the processing unit 20 transmits to the control unit 50 of the robot 100 an instruction to stop the robot 100.
• the maximum sum corresponds to a maximum separation of the two arms 11, 12 corresponding to the maximum diameter d a vine stock.
• the obstacle detection means 10 characterize more precisely the obstacles encountered when they generate the simultaneous movement of the two arms 11, 12 rather than a single arm 11 or 12. Indeed, the same movement of an arm 11 or 12 can be generated by an obstacle, of apparent width a, positioned at a distance b from the longitudinal plane of the passageway, or even by a obstacle, having an apparent width (a+b/2), positioned at a distance b/2 from the longitudinal plane of the passageway.
• a vine plant positioned at a certain distance from the longitudinal plane of the passage corridor in such a way as to be detected by only one arm could be considered as a false positive, in other words, considered as an obstacle whose dimension apparent would be greater than the detection threshold while said apparent dimension would be artificially increased due to the distance of the obstacle from the longitudinal plane of the passageway.
• the first, second and third steps are repeated sequentially, iteratively, as long as the robot 100 does not receive a stop instruction.
• the first and second position sensors of the obstacle detection means 10 can perform measurements continuously, as soon as the robot 100 is running and moving forward. Alternatively, the first and second position sensors perform measurements continuously, only when an agricultural tool 80 is present on the robot 100.
• the data recorded by the first and second position sensors are preferably taken at regular time intervals that are short enough to quickly detect the variation in the angles CM, 02 OR the variation in the displacements d-i, d2, depending on the mechanical configuration of the detection means d obstacles 10.
• the data are read, by each position sensor, at time intervals of the order of a few tenths of a second.
• the robot 100 continues to advance, - if the characteristic of the chosen and determined obstacle does not satisfy the associated predefined criterion, the robot 100 is stopped.
• the method allows a distinction between the object to be processed, in the example the vine stock, and the other elements of the environment which may constitute an obstacle located in the trajectory of the robot 100 and which may impact the proper functioning of the robot 100.
• the method associated with the obstacle characterization device, improves the autonomy of the robot 100 and makes it possible to limit the intervention of an operator during the maintenance operation of the vine.
• an information message can be transmitted by the control unit 50 to an operator in order to warn him. Once the obstacle has been removed by the operator, the robot 100 can restart, as well as the process.
• the method comprises:
• the first and second proximity sensors 15 and 16 can perform their measurements continuously, as soon as the robot 100 is running and moving forward. Alternatively, the first and second proximity sensors 15 and 16 perform measurements continuously, only when the values measured by the first and second position sensors are simultaneously zero.
• the measurements performed by the first and second proximity sensors are preferably performed at the same regular time intervals as for the first and second position sensors.
• the validation step consists in verifying that, when the values measured by the first and second position sensors 13, 14 are simultaneously zero, the values measured by the first and second proximity sensors 15 and 16 are indeed representative of the positioning at rest of the two arms 11, 12.
• an instruction to stop the robot 20 is generated by the control means 50.
• An information message can be transmitted to the operator.
• the method makes it possible to alert the operator to a possible malfunction of the device, such as for example a misalignment of at least one of the two position sensors, or a deformation of at least least one of the two arms 11, 12.
• the security method may include a prior step of producing a georeferenced map of a crop plot with a location of acceptable obstacles.
• the spatial coordinates of the obstacle are compared with the spatial coordinates of the acceptable obstacles of the exception list.
• the spatial coordinates of the obstacle are for example obtained from the location system of the robot 100 and are transmitted to the control unit 50 which compares them with the spatial coordinates of the acceptable obstacles of the exception list.
• the robot 100 continues to move forward.
• the robot 100 is stopped.
• the robot 100 associated with the obstacle characterization device, can also advantageously be used to produce a cartography of a crop plot.
• the robot advantageously comprises a localization system.
• the method for producing a cartography of a crop plot by means of the robot 100 comprises, when an obstacle is detected by the obstacle detection means 10, the following steps.
• said read data are the data measured by the first position sensor and those measured by the second position sensor.
• the data is preferably obtained simultaneously by the first position sensor and the second position sensor.
• the obstacle detection means 10 then transmit the data to the processing unit 20.
• the transmission can be carried out via any type of link, wired or not.
• the processing unit can transmit the data to the control unit 50.
• the navigation system then transmits the location report of the robot to the control unit 50.
• the data recorded by the obstacle detection means and the recording of the location of the robot are recorded in the form of a doublet.
• the doublet is preferably stored in the control unit 50.
• the processing unit can processing the data and determining at least one characteristic of the detected obstacle.
• the processing unit 20 transmits said at least one characteristic of the obstacle detected to the control unit 50.
• the control unit 50 then records a doublet "the at least one characteristic of the obstacle detected - location of the robot 100”. Said doublet can subsequently be transmitted to a system external to the robot 100 in order to be further processed.
• all of said doublets make it possible to highlight the vines and their respective locations and can constitute a prior map without requiring additional processing with a external system.
• the spatial coordinates of the obstacles other than the vines, but which are considered not to interfere with the operation of the robot are recorded and stored in the memory space of the control unit 50.
• the method comprises: - a measurement step, by the first and second proximity sensors 15, 16, of a value representative of the positioning of the first arm 11 with respect to the second arm 12,
• the first and second proximity sensors 15 and 16 can perform their measurements continuously, as soon as the robot 100 is running and moving forward. Alternatively, the first and second proximity sensors 15 and 16 perform measurements continuously, only when the values measured by the first and second position sensors are simultaneously zero.
• the measurements performed by the first and second proximity sensors are preferably performed at the same regular time intervals as for the first and second position sensors.
• the validation step consists in verifying that, when the values measured by the first and second position sensors 13, 14 are simultaneously zero, the values measured by the first and second proximity sensors 15 and 16 are indeed representative of the positioning at rest of the two arms 11, 12.
• an instruction to stop the robot 20 is generated by the control means 50.
• An information message can be transmitted to the operator. This process makes it possible to alert the operator to a possible malfunction of the device, which can distort the mapping in progress.

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• 2021
  • 2021-02-22 FR FR2101693A patent/FR3119964B1/fr active Active
• 2022
  • 2022-02-22 EP EP22706633.9A patent/EP4294162A1/de active Pending
  • 2022-02-22 WO PCT/EP2022/054323 patent/WO2022175540A1/fr active Application Filing
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