DE102017124480A1 - Autonomous agricultural robot device - Google Patents

Abstract

The invention relates to an autonomous agricultural robotic device (10) for agricultural row crops. The robotic device (10) has a towing vehicle (12) with a drive device (18) for moving the towing vehicle (12) and a mowing device (20) for mowing grass. The robot apparatus (10) has a trailer (14). The robotic device (10) has a drawbar (16) which hingedly connects the towing vehicle (12) to the trailer (14).

Description

The invention relates to an autonomous agricultural robotic device for agricultural row crops, d. H. arranged in rows plants, such as fruit trees or fruit bushes, a plantation. The invention also relates to a use of the autonomous agricultural robotic device.

Typically, orchards today, such as apple orchards and grape orchards, are being mowed every three to four weeks by a mower-mower-connected tractor. Typically, the trees or shrubs of the plantations are arranged in adjacent rows (so-called row crops). The farmer runs through the tractor in succession through the spaces between the rows next to each other, mowing the grass. This requires a considerable time and expense for the fruit farmers. The mowing and mulching work is necessary so that there are no delays in the harvest and the paths between the trees or shrubs can be easily traveled. In addition, no unwanted plants grow and mice are less able to implant themselves. In addition, the mowing and mulching can be done for further agronomic considerations.

In the prior art robotic devices for mowing grass and / or for use in agriculture are known. Ultimately, however, these robotic devices have a variety of shortcomings, so that they are currently hardly used in agriculture.

From the US 2003/0023356 A1 For example, an autonomous mobile device for performing work within a predetermined range is known. The device has a plurality of solar cells for charging a rechargeable power source. The device can be used as a lawnmower. A similar device is also from the US 5,323,593 A known.

The US Pat. No. 7,854,108 B2 discloses an agricultural robotic system for carrying out various work in agriculture.

From the US 4,482,960 A is an apparatus for automatically guiding a tractor for agricultural purposes such as planting and picking. The tractor pulls a trailer.

The invention is based on the object to provide an improved autonomous agricultural robotic device, which can be used in particular for mowing grass in row crops.

The object is achieved by an autonomous agricultural robotic device and a use of the autonomous agricultural robotic device according to the independent claims. Advantageous developments are specified in the dependent claims and the description.

The autonomous agricultural robotic device is suitable for use in agricultural row crops. The robotic device has a towing vehicle with a drive device for moving the towing vehicle and a mowing device for mowing grass. The robotic device has a trailer. The robotic device has a drawbar which hingedly connects the towing vehicle with the trailer.

The articulated connection between the towing vehicle and the trailer by means of the drawbar allows the towing vehicle and the trailer to perform different movements. For example, the towing vehicle may travel in a zigzag fashion while only pulling the trailer along a longitudinal axis of the zigzag. The trailer may then be used to center the movement of the towing vehicle between two rows of row crops.

In one embodiment, the towing vehicle and / or the trailer has a photovoltaic system for converting solar energy into electrical energy, wherein the photovoltaic system is connected to the drive device and / or the mowing device for supplying electrical energy. The landscape robotic machine can power itself with the photovoltaic system. In embodiments in which the photovoltaic system is provided on a trailer of the robotic device, it is possible to position the trailer with the photovoltaic system always so that the photovoltaic system is not in the shade of the plants of the row crops, while the towing vehicle with the mowing the entire Area between the rows of plants leaves. Due to the optimal positioning of the photovoltaic system, more solar energy can be converted into electrical energy. Accordingly, the photovoltaic system can be made smaller. Alternatively or additionally, a more powerful drive device and / or mowing device can be provided. In addition, the towing vehicle can be made smaller and thus more manoeuvrable. For example, the towing vehicle can drive directly up to tree trunks of fruit trees, so that the mowing device also mows grass very close to the trees can. If the photovoltaic system were mounted on the towing vehicle, the photovoltaic system could prevent such a close approach and mowing.

It is also possible that the towing vehicle and / or the trailer has a battery pack that is connected to the drive device and / or the mowing device for supplying electrical energy. Preferably, in this case, the battery pack is replaceable and / or rechargeable to a power supply, a charging station and / or the photovoltaic system.

The landscape robotic machine can power itself with the photovoltaic system. The fact that the photovoltaic system is provided on a trailer of the robotic device, there is the possibility to always position the trailer with the photovoltaic system so that the photovoltaic system is not in the shade of the plants of the row crops, while the towing vehicle with the mowing the entire area between leaves the plant rows. Due to the optimal positioning of the photovoltaic system, more solar energy can be converted into electrical energy. Accordingly, the photovoltaic system can be made smaller. Alternatively or additionally, a more powerful drive device and / or mowing device can be provided. In addition, the towing vehicle can be made smaller and thus more manoeuvrable. For example, the towing vehicle can drive directly up to tree trunks of fruit trees, so that the mowing device can mow grass very close to the trees. If the photovoltaic system were mounted on the towing vehicle, the photovoltaic system could prevent such a close approach and mowing.

In one embodiment, the robotic device includes a first angle sensor that detects an angle between the towing vehicle and the drawbar. The angle detected by the first angle sensor may be used to control the movement of the towing vehicle and thus the robotic device.

Alternatively or additionally, the robotic device has a second angle sensor which detects an angle between the drawbar and the trailer, in particular between the drawbar and a trailer of the trailer. The angle detected by the second angle sensor can be used in particular for determining a middle position between two plant rows. The center position can in turn be used to control the movement of the towing vehicle and thus the robotic device.

In a preferred embodiment, the robotic device has a hinge which hingedly connects the towing vehicle to the drawbar. In particular, the first angle sensor may be connected to the hinge for measuring the angle between the towing vehicle and the drawbar.

In a further exemplary embodiment, the drive device of the towing vehicle has a first ground-engaging element, in particular a first wheel or a first track, and / or a second ground-engaging element, in particular a second wheel or a second track. In particular, the first ground engaging element may be provided on a side of the towing vehicle facing the trailer. In addition, the second ground engaging element may be provided on a side of the towing vehicle facing away from the trailer. Consequently, the towing vehicle can in particular be moved transversely between two rows of plants.

Preferably, the towing vehicle may further be provided with protective strips. In particular, the protective strips may be arranged in front of and behind the ground engaging elements and over the ground engaging elements in a transverse direction of the towing vehicle protruding. Preferably, the protective strips define a maximum width of the towing vehicle. The guard rails may be sized so that the towing vehicle does not fit between two adjacent plants of a plant row. Preferably, the protective strips can be variable in length. Thus, a length of the protective strips and thus a width of the towing vehicle can be adjusted.

In one embodiment, the towing vehicle further includes a plurality of proximity or contact sensors for sensing a distance or contact between the towing vehicle and an obstacle. Preferably, the plurality of distance or contact sensors are arranged on opposite side regions of the towing vehicle. Using the distance or contact sensors, the plants of the plant rows can be detected as obstacles. Thus, when detecting a plant of a row of plants in a forward direction of the towing vehicle, a direction of travel of the towing vehicle can be reversed. Thus, the towing vehicle between two adjacent rows of plants back and forth.

In one embodiment, the drawbar is rigidly connected to the trailer. It is also possible that the drawbar is rotatably connected to the trailer, wherein, preferably, stops are provided which limit the angle of rotation between the drawbar and the trailer.

In a particularly preferred embodiment, the robot device may have a control unit for controlling the robotic device, in particular the drive device and / or the mowing device. The control unit may, for example, comprise a microcomputer and / or have electronic or mechanical control elements.

The term "control unit" refers to a control electronics, which can take over control tasks and / or regulatory tasks depending on the training.

In particular, the control unit controls the drive device based on a signal from the plurality of contact or distance sensors, the first angle sensor and / or the second angle sensor.

In particular, the control unit may be accommodated in the towing vehicle or in the trailer.

In a further embodiment, the control unit controls the drive device so that the towing vehicle performs a movement in a zigzag pattern extending along a central longitudinal axis, thereby pulling the trailer substantially only in a main travel direction along (/ parallel to) the longitudinal axis. Thus, the towing vehicle with the mower drives the entire area between two adjacent rows of plants. In addition, the trailer moves substantially only centrally between the two rows of plants along the main direction of travel, so that little or no shade of the two rows of plants falls on the photovoltaic system of the trailer.

In a further development, the control unit controls the drive device such that a drive direction of the drive device is reversed at vertices of the zigzag pattern when an obstacle in a current direction of movement of the trailer is detected. The obstacle can be detected in particular by one of the distance or contact sensors. Preferably, the corresponding distance or contact sensors can transmit a corresponding signal to the control unit. Through the detection of obstacles, a plant of a row of plants and thus the course of the corresponding plant row can be detected. Thus, the tractor can be controlled in a zigzag course between two adjacent rows of plants in a simple and reliable manner.

In one embodiment, the control unit controls the drive device so that the towing vehicle performs the movement in the zigzag pattern based on a detected rotation of the trailer to compensate for the rotation of the trailer for holding the main travel direction of the trailer along the central longitudinal axis of the zigzag. Thus, the trailer for aligning the zigzag shape of the movement of the towing vehicle along a central axis extending between the two rows of plants can be used. Again, the towing vehicle can be controlled so that the trailer travels substantially midway between the two rows of plants.

In a further embodiment, the control unit controls the drive device so that the towing vehicle turns the trailer in a curve movement when a predetermined Winkelschwellwert between the drawbar and a towing pointer of the trailer is exceeded or fallen below and / or a period of time since the last reversal of a drive direction of the Towing vehicle exceeds a time threshold. Thus, if within a certain time and / or angle range no obstacle in the direction of movement of the towing vehicle is detected, it is concluded that the end of a row of plants has been reached. Thus, one end of a row of plants can be detected in a simple manner and a turning maneuver can be initiated for entering a further area between two rows of plants. The Winkelschwellwert is formed so that it is ensured that the tractor meets a plant of the plant row, if it is present. If there is no plant, d. H. the plant row is over, no plant / obstacle is detected by the distance or contact sensors and the predetermined angle threshold due to the continued movement of the towing vehicle finally exceeded or fallen below.

In a particularly preferred embodiment, the control unit activates the drive device and / or the mowing device (automatically) when the electrical energy converted by the photovoltaic system exceeds a threshold value. Thus, the autonomous robot device, for example, at sunrise independently start operation.

In a further particularly preferred embodiment, the control unit deactivates the drive device and / or the mowing device (automatically) when the electrical energy converted by the photovoltaic system falls below a second threshold value. Thus, for example, the autonomous robot device may autonomously enter a sleep mode at sunset.

In a further embodiment variant, the robot device has a camera device for Picking up an image of an environment of the robotic device.

In particular, the camera device can be provided rotatable and / or pivotable.

Preferably, the control unit may be configured to apply an image recognition algorithm to an image captured by the camera apparatus to detect plant stem status, plant leaf population, plant leaf condition, fruit stock, and / or fruit ripeness.

In particular, the image recognition algorithm may compare the image with, for example, an earlier image or a comparative image having a healthy bark, sufficient plant leaf stock, a healthy plant leaf condition, a desired fruit stock, and / or a desired degree of fruit ripeness. Additionally or alternatively, the image recognition algorithm may apply a filter to the image captured by the camera device. For example, several pixels can be combined into one pixel. Additionally or alternatively, the image recognition algorithm may, for example, count the number of pixels in which a gray value is above a threshold value.

In the further embodiment, the robotic device further comprises a spraying device for spraying a fluid. For example, a crop protection agent, a fertilizer and / or water can be sprayed on plants of the plantation.

In a preferred embodiment, the control unit controls the spray device based on a result of the application of the image recognition algorithm. Thus, for example, a plant protection product can be sprayed specifically on only those plants that actually need the plant protection product, for example due to a fungal or insect attack. This can reduce the consumption of the plant protection product and reduce the impact of the plant protection product on the environment.

In a further embodiment, the robot device has a communication interface, in particular a wireless communication interface, for transmitting and / or receiving signals. For example, a user may be informed when the robotic device has mown the entire plantation. On the other hand, for example, a command to start or stop an operation of the robot apparatus may be received from a user. The communication interface can connect, for example, with a mobile network and / or the Internet.

In a further embodiment, the robot device further comprises at least one grass trimmer, which is hinged, in particular pivotable, and / or telescopically connected to the towing vehicle. The at least one grass trimmer makes it possible to cut grass directly around the trees or plants of the rows of plants that can not be reached by the mower. Thus, for example, can be dispensed with spraying this grass area to prevent grass growth, which saves spray and the environment is protected.

Preferably, the at least one grass trimmer can be designed to be retractable and extendable via an actuator.

In particular, the at least one grass trimmer can always be extended if an obstacle on the side of the at least one grass trimmer is detected by the distance or contact sensors.

Preferably, the robotic device may comprise two grass trimmers arranged on opposite sides of the towing vehicle.

The present disclosure also relates to a use of an autonomous agricultural robotic device as disclosed herein in a row agricultural culture having a plurality of spaced plant rows. The use comprises moving the towing vehicle in a zigzag motion between opposing plants of two plant rows of the plurality of plant rows. The use comprises pulling the trailer by means of the towing vehicle substantially midway between the two plant rows of the plurality of plant rows.

Preferably, the use may additionally include turning the robotic device at the end of the two plant rows of the plurality of plant rows.

Preferably, the use may additionally include retracting the robotic device centrally between one of the two rows of plants and another row of plants of the plurality of rows of plants.

The step of moving, pulling, turning and retracting may be automatically controlled.

• 1 eine schematische Seitenansicht einer autonomen landwirtschaftlichen Robotervorrichtung gemäß der vorliegenden Offenbarung;
• 2 eine perspektivische Ansicht eines Zugfahrzeugs der autonomen landwirtschaftlichen Robotervorrichtung gemäß der vorliegenden Offenbarung;
• 3 eine Draufsicht auf die autonome landwirtschaftliche Robotervorrichtung gemäß der vorliegenden Offenbarung;
• 4 eine Draufsicht auf die autonome landwirtschaftliche Robotervorrichtung gemäß der vorliegenden Offenbarung im Einsatz auf einer landwirtschaftlichen Plantage; und
• 5 eine Draufsicht auf die autonome landwirtschaftliche Robotervorrichtung gemäß der vorliegenden Offenbarung, die mit zusätzlichen optionalen Rasentrimmern ausgestattet ist.

The preferred embodiments and features of the invention described above can be combined with one another as desired. Further details and advantages of the invention are in Described below with reference to the accompanying drawings. Show it:

• 1 a schematic side view of an autonomous agricultural robotic device according to the present disclosure;
• 2 a perspective view of a towing vehicle of the autonomous agricultural robotic device according to the present disclosure;
• 3 a plan view of the autonomous agricultural robotic device according to the present disclosure;
• 4 a plan view of the autonomous agricultural robotic device according to the present disclosure in use on an agricultural plantation; and
• 5 a plan view of the autonomous agricultural robotic device according to the present disclosure, which is equipped with additional optional grass trimmers.

The embodiments shown in the figures are at least partially identical, so that similar or identical parts are provided with the same reference numerals and to the explanation of which reference is also made to the description of the other embodiments or figures in order to avoid repetition.

The 1 shows an autonomous agricultural robotic device 10 , The robot device 10 has a towing vehicle 12 and a trailer 14 on. The towing vehicle 12 and the trailer 14 are about a drawbar 16 hinged together.

The towing vehicle 12 is in the 1 and 2 shown. The towing vehicle 12 has a drive device 18 , a mower 20 , Distance or contact sensors (touch sensors) 22 and a control unit 24 on. The towing vehicle 12 may include other devices for analyzing and / or carrying out agricultural work. For example, the towing vehicle 12 a camera device 26 , a spraying device 28 and / or a communication interface 29 as indicated by the dotted lines in 1 is specified. Alternatively, for example, the trailer 14 the control unit 24 , the camera device 26 , the spraying device 28 and / or the communication interface 29 if available, have.

The drawbar 16 is about a first pivot 30 articulated with the towing vehicle 12 connected. The drawbar 16 is about a second pivot 32 articulated with the trailer 14 connected. To the angle of rotation between the drawbar 16 and the trailer 14 limit, appropriate attacks may be provided. Alternatively, the drawbar 16 For example, also rigid with the trailer 14 be connected.

The drive device 18 has two caterpillars (caterpillars) 18A . 18B as ground intervention elements. The crawlers 18A . 18B are on opposite sides of the towing vehicle 12 intended. The crawlers 18A . 18B the drive device 18 be via one or more electric motors of the drive device 18 driven. The two crawlers 18A . 18B the drive device 18 can be driven at different speeds to the towing vehicle 12 to steer. Alternative to the two caterpillars 18A . 18B For example, wheels can also be used as ground-engaging elements. It is also possible that the drive device 18 a separate steering unit for steering the towing vehicle 12 , For example, a steerable axle has.

The crawlers 18A . 18B the drive device 18 are in a direction perpendicular to the drawbar 16 aligned when the drawbar 16 in a middle position with respect to the first pivot 30 is. In detail, the first crawler 18A on a the trailer 14 facing side of the towing vehicle 12 intended. The second crawler 18B is on a the trailer 14 facing away from the towing vehicle 12 intended. The crawlers 18A . 18B are arranged so that the towing vehicle 12 especially across the trailer 14 moves. In particular, the towing vehicle performs 12 a zigzag movement, with the trailer 14 is pulled along a longitudinal axis of the zigzag movement. This is described in detail later with reference to FIGS 3 and 4 described.

The mowing device 20 Used for mowing grass. The mown grass is from the autonomous robot device 10 not picked up so that it remains as a mulch. The mowing device 20 may for example have one or more rotating mower blades. In some embodiments, the mowing device 20 be adjustable in height for setting a cutting height.

The distance or contact sensors 22 are designed to be an obstacle in a direction of movement of the towing vehicle 12 capture. The obstacle may be, for example, via contact with the sensors 22 be recorded. However, it is also possible that the sensors 22 the obstacle contactless via the detection of a distance between the towing vehicle 12 and the obstacle. In agricultural use, the obstacles are plants, for example shrubs or trees, of plantations.

The distance or contact sensors 22 are on opposite sides of the towing vehicle 12 intended. In particular, the distance or contact sensors 22 at a front and a rear of the towing vehicle 12 concerning one by the caterpillars 18A . 18B defined direction of travel provided. Thus, obstacles in the forward direction of travel before the towing vehicle 12 be recorded.

Capture the distance or contact sensors 22 an obstacle, then a corresponding signal to the control unit 24 which may, for example, comprise a microcomputer. The control unit 24 controls the caterpillars 18A . 18B , If an obstacle is detected, the control unit controls 24 the caterpillars 18A . 18B for reversing a drive direction. Then the towing vehicle moves 12 in the opposite direction away from the detected obstacle. This allows the towing vehicle 12 in a simple way between opposite plants of two juxtaposed plant rows of the plantation back and forth. In this reciprocating movement mows the mower 20 the grass growing between the plants and at the same time mulching the soil with the grass clippings.

The control unit 24 can also with the camera device 26 , the spraying device 28 , a first angle sensor 34 and a second angle sensor 36 be connected. About the first angle sensor 34 can be an angle between the drawbar 16 and the towing vehicle 12 be recorded. About the second angle sensor 36 can be an angle between the drawbar 16 and the trailer 14 and / or a rotation of the trailer 14 be detected on a floor of the plantation.

The control unit 24 can the crawlers 18A . 18B based on signals coming from the distance or contact sensors 22 , the first angle sensor 34 and the second angle sensor 36 were received, control. In particular, the control unit 24 the caterpillars 18A . 18B so control that the towing vehicle 12 between two adjacent plant rows of a plantation performs a zigzag movement while the trailer 14 moves substantially in a straight line along a longitudinal axis of the zigzag movement.

The camera device 26 (only in 1 shown) may be formed as a photo camera device or a video camera device. The camera device 26 can be designed to be rotatable and / or pivotable. About the camera device 26 Images of stems, leaves and fruits of the plants of the plantation can be taken.

The shots of the camera device 26 can via the communication interface 29 sent to a user for analysis of the state of the plants of the plantation. It is also possible that in the control unit 24 one or more image recognition algorithms are stored. The image recognition algorithms can be applied to the images of the camera device 26 for example, to detect a condition of the stem, leaves and / or fruits. In particular, diseases such as fungal infestation, the trunk or the leaves and a degree of ripeness of the fruits can be detected automatically. The result of the application of the image recognition algorithm can in turn via the communication interface 29 forwarded to a user for information. Alternatively or additionally, the result of the application of the image recognition algorithm for controlling the spraying device 28 be used.

The spraying device 28 (only in 1 shown) can be used for spraying a fluid, for example a crop protection agent, a fertilizer or water, on the plants of the plantation. The spraying device 28 can be designed to be rotatable and / or pivotable. The spraying device 28 may include one or more spray nozzles, a fluid pump, and a fluid tank. For example, the spray device 28 for spraying a plant protection product on a plant, if a fungal attack of the plant has been detected by the application of the image recognition algorithm. It is also possible for the plants of the plantation to be independent of image recognition and / or the presence of the camera device 26 over the spray device 28 to spray with a fluid.

The communication interface 29 is used to transmit information to a user. The information to be sent can be provided by the control unit. In particular, the communication interface 29 connect wirelessly to the Internet and / or a mobile network for sending the information to a user's computer. The communication interface 29 may, for example, operational data of the autonomous robotic device 10 such as distance covered, operating time, position, operating condition, etc.

It is also possible that via the communication interface 29 Information about enabling, disabling, or otherwise controlling the robotic device 10 be received.

The towing vehicle 12 can also with deflectors or protective strips 38 be provided. The protective strips 38 can get over the caterpillars 18A . 18B extend out and a maximum Width of the towing vehicle 12 define. The protective strips 38 can be on opposite sides of the towing vehicle 12 in front of and behind the caterpillars 18A . 18B be provided. The protective strips 38 can be dimensioned so that the towing vehicle 12 does not fit between two adjacent plants in a row of plants. This ensures that the towing vehicle 12 travels between two rows of plants in a zigzag course along the entire length of the two rows of plants. In some embodiments, one may be above the caterpillars 18A . 18B protruding width of the protective strips 38 be adjustable, so the overall width of the towing vehicle 12 can be adapted to the respective maximum plant distance of the plants of the respective plantation. In addition, the protective strips can take over the function of a bumper. In addition, the protective strips 38 with the contact sensors 22 be connected or integrated with the contact sensors 22 be executed.

The trailer 14 can be a photovoltaic system 40 respectively. The photovoltaic system 40 can convert solar energy into electrical energy. The photovoltaic system 40 has one or more solar panels and, if necessary, a charge controller. The electrical energy can be connected via a connection cable, for example, to the drawbar 16 is guided to the towing vehicle 12 be transmitted. For example, the drive device 18 , the distance or contact sensors 22 , the control unit 24 , the camera device 26 , the spraying device 28 and the communication interface 29 be supplied with electrical energy.

It is also possible that the towing vehicle 12 and / or the trailer 14 a battery pack 41 for storing electrical energy. The battery pack 41 For example, from the photovoltaic system 40 (if available) or at a mains connection or solar charging station. The battery pack 41 can be exchangeable.

Appropriately, the autonomous robot device 10 an electrical energy storage to from the photovoltaic system 40 to buffer stored electrical energy. In such a configuration, the electrical energy storage is between the photovoltaic system 40 on the one hand and the drive device 18 , the distance or contact sensors 22 , the control unit 24 , the camera device 26 , the spraying device 28 and the communication interface 29 on the other hand switched. The electrical energy storage can be designed, for example, as an accumulator and in the trailer 14 or in the towing vehicle 12 be provided.

In the embodiment shown, the trailer 14 even no own drive on. Instead, the trailer becomes 14 from the towing vehicle 12 drawn. pendant 14 may for example have wheels as ground engaging elements.

With reference to the 3 and 4 below is the operation of the robot device 10 described.

The robot device 10 can be used in a plantation that has a plurality of rows of plants arranged side by side A . B . C having. The plantation may be, for example, an orchard with fruit trees, for example apple trees, or fruit bushes, for example grapevines.

The robot device 10 moves completely autonomously over the plantation. Here the towing vehicle drives 12 first across the rows of plants A and B until it with the contact or distance sensors 22 (please refer 1 and 2 ) a tree or a shrub of the plant row A recognizes. Then the towing vehicle drives 12 in an opposite direction until there is a tree or a shrub of the plant row B recognizes etc. The movement of the towing vehicle 12 between the plant rows A and B has a zigzag shape D on. The zigzag shape D results from a controlled change in the angle of the towing vehicle 12 to the drawbar 16 , In detail, the towing vehicle is moving 12 not (only) perpendicular to the course of the plant rows A . B but (also) slightly angled to the course of the plant rows A . B , While the towing vehicle 12 between the plant rows A and B in the zigzag shape D moves, mows the towing vehicle 12 the entire area between the plant rows A and B ,

Through the zigzag shape D the movement of the towing vehicle 12 there is a forward movement of the robot device 10 between the plant rows A and B in a main direction of travel e , The main driving direction e corresponds to a longitudinal axis of the zigzag shape D , The trailer 14 will be in the main direction of travel e in the middle between the rows of plants A and B pulled along. This has the advantage that the photovoltaic system 40 not in the shade of the plant rows A and B and thus convert more solar energy into electrical energy. The adjustment of the angle to the drawbar 16 can be done in different ways. For example, the angle through the first angle sensor 34 read out and over the caterpillars 18A and 18B be set as desired. It is also possible to provide angle stops or to make an active angle adjustment.

A connection (for example, the second pivot 32 ) between the drawbar 16 and the trailer 14 is arranged so that the trailer 14 between the plant rows A and B is centered. The connection is so on the trailer 14 arranged that the trailer 14 at the row change for driving the area between the plant rows B and C (please refer 4 ) enough to catch the plants of the plant row B not to damage.

About the second angle sensor 36 may be a relative position of a mid-row center between the plant rows A and B ie a position of being centered between the plant rows A and B moving trailer 14 , concerning the drawbar 16 and the towing vehicle 12 to the control unit 24 (please refer 1 and 2 ). The knowledge of the position of the intermediate row center can be used to control the drive device 18 of the towing vehicle 12 be used so that the zigzag shape D the movement of the towing vehicle 12 along the main direction of travel e aligned (centered) becomes. This serves the trailer 14 as centering of the robot device 10 for centering the movement between the rows of plants A and B , The second angle sensor 36 For example, an angle between the drawbar 16 and a slave pointer 42 (only in 3 exemplified) of the trailer 14 to capture. The slave pointer 42 can approximately the course of the series (or the alignment of the rows of plants A . B . C ), which serves as a reference angle for the angular adjustment on the first pivot 30 for generating the zigzag shape D can be used.

The robot device 10 turns at the end of the plant rows A and B for entering the area between the rows of plants B and C , Here the towing vehicle turns 12 the trailer 14 for example in a curve movement when the contact or distance sensors 22 no plants in a current direction of movement of the towing vehicle 12 detect a predetermined Winkelschwellwert between the drawbar 16 and the slave pointer 42 is exceeded or undershot and / or it is time-exceeded since the last contact or detection of a row of plants by the touch or distance sensors 22 comes. Detects the robot device 10 that the plant rows A and B a predetermined motion algorithm for safely turning over the robotic device 10 and entering the area between the rows of plants B and C be executed. The turn can be done, for example, arcuate or straight.

The robot device 10 is operated as long as via the photovoltaic system 40 or one of the photovoltaic system 40 charged electrical storage device enough electrical energy to operate the robotic device 10 is available. Typically, the robotic device becomes 10 go into a sleep mode after sunset. After sunrise, the control unit 24 the robot device 10 activate automatically when the photovoltaic system 40 enough electrical energy to operate the robotic device 10 provides.

In 5 is shown that the autonomous agricultural robot device 10 in some embodiments additionally with one or more optional grass trimmers (grass teasers) 44 . 46 can be equipped.

The first grass trimmer 44 and the second grass trimmer 46 are each articulated via a swivel joint on the towing vehicle 12 appropriate. The grass trimmer 44 . 46 are on opposite sides of the towing vehicle 12 appropriate. In particular, the grass trimmers 44 . 46 on the sides of the towing vehicle 12 attached to which the caterpillars 18A . 18B are not appropriate.

The grass trimmer 44 . 46 are driven and can via one or more actuators relative to the towing vehicle 12 be pivoted. For example, the grass trimmers 44 . 46 always be extended when the autonomous agricultural robot device 10 detects an obstacle (a tree, a plant) to mow the area around the obstacle. In detail, the first grass trimmer 44 be extended when on the side of the towing vehicle 12 An obstacle is detected at the first grass trimmer 44 is arranged. Similarly, the second grass trimmer 46 be extended when on the opposite side of the towing vehicle 12 an obstacle is detected, ie on the side of the second grass trimmer 46 ,

The grass trimmer 44 . 46 expand one of the autonomous agricultural robotic device 10 reachable mowing area. In particular, the grass trimmers allow 44 . 46 Mowing grass directly around the plants or trees of the plant rows A . B around.

The grass trimmer 44 . 46 For example, each one pole 48 having at one end hinged to the towing vehicle 12 is connected and at the opposite end a driven cutting device 50 wearing. The cutting device 50 For example, it may have one or more rotating threads or other cutting tools for mowing grass.

It is also possible that the grass trimmer 44 . 46 telescopic with the towing vehicle 12 are connected.
The invention is not limited to the preferred embodiments described above. Rather, a variety of variants and modifications is possible, which also make use of the inventive idea and therefore fall within the scope. In particular, the invention also claims protection of the subject matter and the features of the subclaims independently of the claims referred to. In particular, all features of claim 1 are disclosed independently. In addition, the features of the subclaims are also disclosed independently of the features relating to the presence and / or the configuration of the towing vehicle, the mowing device, the trailer and / or the drawbar of the independent claim 1.

LIST OF REFERENCE NUMBERS

10

Autonomous agricultural robot device

12

towing vehicle

14

Trailer (centering trolley)

16

shaft

18

driving device

18A

First crawler

18B

Second crawler

20

mowing

22

Contact or distance sensor

24

control unit

26

camera device

28

sprayer

29

Communication Interface

30

First swivel

32

Second pivot

34

First angle sensor

36

Second angle sensor

38

flap

40

photovoltaic system

41

battery pack

42

Peak values

44

First grass trimmer

46

Second lawn trimmer

48

pole

50

cutter

A, B, C

plant row

D

Zigzag / zigzag movement

e

Main direction of travel

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 2003/0023356 A1 [0004]
• US 5,323,593 A [0004]
• US 7854108 B2 [0005]
• US 4482960 A [0006]

Claims (16)

Autonomous Rural Robotic Device (10) for Rural Row Cultures, comprising: a towing vehicle (12) having a drive device (18) for advancing the towing vehicle (12) and a mowing device (20) for mowing grass; a trailer (14); and a drawbar (16) which connects the towing vehicle (12) articulated to the trailer (14). Autonomous agricultural robotic device (10), wherein: the towing vehicle (12) and / or the trailer (14) has a photovoltaic system (40) for converting solar energy into electrical energy, the photovoltaic system (40) being connected to the drive device (18) and / or the mowing device (20) for supplying electrical energy is connected; and or the towing vehicle (12) and / or the trailer (14) has a battery pack (41) which is connected to the drive device (18) and / or the mowing device (20) for supplying electrical energy, wherein the battery pack (41) exchangeable is and / or at a grid connection, a charging station and / or the photovoltaic system (40) is chargeable. An autonomous agricultural robotic device (10), further comprising: a first angle sensor (34) sensing an angle between the towing vehicle (12) and the drawbar (16); and or a second angle sensor (36) detecting an angle between the drawbar (16) and the trailer (14), in particular between the drawbar (16) and a trailer (42) of the trailer (14). Autonomous agricultural robot device (10) after Claim 3 , further comprising: a pivot (30) pivotally connecting the towing vehicle (12) to the drawbar (16), the first angle sensor (34) coupled to the pivot (30) for measuring the angle between the towing vehicle (12) and the vehicle Drawbar (16) is connected. An autonomous agricultural robotic device (10) according to any one of the preceding claims, wherein the drive device (18) of the towing vehicle (12) comprises: a first ground engaging element (18A), in particular a first wheel or a first track; a second ground engaging element (18B), in particular a second wheel or a second track, wherein the first ground engaging element (18A) is provided on a side of the towing vehicle (12) facing the trailer (14) and the second ground engaging element (18B) is provided on a side of the towing vehicle (12) facing away from the trailer (14). An autonomous agricultural robotic device (10) according to any one of the preceding claims, wherein the towing vehicle (12) further comprises: a plurality of distance or contact sensors (22) for detecting a distance or contact between the towing vehicle (12) and an obstacle, wherein the plurality of distance or contact sensors (22) are disposed on opposite side portions of the towing vehicle (12). An autonomous agricultural robotic device (10) according to any one of the preceding claims, wherein: the drawbar (16) is rigidly connected to the trailer (14); or the drawbar (16) is rotatably connected to the trailer (14), wherein preferably stops are provided which limit the angle of rotation between the drawbar (16) and the trailer (14). An autonomous agricultural robotic device (10) according to any one of the preceding claims, wherein: a control unit (24) controls the drive device (18) in such a way that the towing vehicle (12) performs a movement in a zigzag pattern (D) that extends along a central longitudinal axis and essentially only supports the trailer (14) in one main travel direction (FIG. E) pulls along the longitudinal axis. An autonomous agricultural robotic device (10) according to any one of the preceding claims, wherein a control unit (24) controls the drive device (18) so that: a drive direction of the drive device (18) at vertexes of the zigzag pattern is reversed when an obstacle in a current direction of movement of the trailer (14) is detected; and / or the towing vehicle (12), the movement in the zigzag pattern (D) based on a detected rotation of the trailer (14) for compensating the rotation of the trailer (14) for holding the main traveling direction (E) of the trailer (14) along the central longitudinal axis of the zigzag pattern (D); and / or the towing vehicle (12) turns the trailer (14) in a curved motion when a predetermined angle threshold between the drawbar (16) and a trailer (42) of the trailer (14) is exceeded or undershot and / or a period of time since the last reversal of a drive direction of the towing vehicle (12) exceeds a time threshold. Autonomous agricultural robotic device (10) according to one of Claims 2 to 9 wherein: a control unit (24) activates the drive device (18) and / or the mowing device (20) when the electrical energy converted by the photovoltaic system (40) exceeds a first threshold; and / or a control unit (24) deactivates the drive device (18) and / or the mowing device (20) when the electrical energy converted by the photovoltaic system (40) falls below a second threshold value. An autonomous agricultural robotic device (10) according to any one of the preceding claims, further comprising: a camera device (26) for capturing an image of an environment of the robotic device (10), wherein preferably: a control unit (24) is adapted to apply an image recognition algorithm to an image captured by the camera apparatus (26) for recognizing a plant stem state, plant leaf population, plant leaf condition, fruit stock, and / or fruit ripeness. An autonomous agricultural robotic device (10) according to any one of the preceding claims, further comprising a spray device (28) for spraying a fluid. Autonomous agricultural robot device (10) after Claim 12 wherein a control unit (24) controls the spray device (28) based on a result of the application of the image recognition algorithm. An autonomous agricultural robotic device (10) according to any one of the preceding claims, further comprising: a communication interface (29), in particular wireless communication interface, for transmitting and / or receiving signals. An autonomous agricultural robotic device (10) according to any one of the preceding claims, further comprising: at least one grass trimmer (44, 46), which is articulated, in particular pivotable, and / or telescopically connected to the towing vehicle (12). Use of an autonomous agricultural robotic device (10) according to any preceding claim on an agricultural plantation having a plurality of spaced plant rows (A, B, C), comprising: Moving the towing vehicle (12) in a zigzagging motion (D) between opposing plants of two plant rows (A, B) of the plurality of plant rows (A, B, C); and Pulling the trailer (14) by means of the towing vehicle (12) substantially midway between the two rows of plants (A, B) of the plurality of rows of plants (A, B, C).

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