Agricultural robotic gantry system for multi-span greenhouses

Abstract

The invention relates to an agricultural robotic gantry system (10) comprising a first carriage (11) which is able to move in a longitudinal direction (X) along longitudinal rails (4A, 4B), the first carriage (11) supporting and guiding, laterally in a transverse direction (Y), a second carriage (12) which is provided with a tool holder (20) for using a tool (30) in relation to a growing surface (RM) in a greenhouse (1) comprising a plurality of adjacent spans (1A, 1B, 1C, 1D), each span supporting two longitudinal rails (4A, 4B) which are are substantially horizontal and face one another, said spans and said longitudinal rails extending in a longitudinal direction (X). An inter-span switching mechanism (61) is positioned in an inter-span transfer zone (60) which extends between the spans (1A, 1B, 1C, 1D) in the transverse direction (Y), the inter-span switching mechanism (61) being arranged such that the first carriage (11) can be operated either in a working configuration, in which the first carriage (11) can be moved in the longitudinal direction (X) in a defined span, or in a switching configuration, in which the first carriage (11) can be translated in the transverse direction (Y) from said defined span to a destination span.

Description

AGRICULTURAL ROBOTIC GANTRY SYSTEM FOR MULTI-SPAN GREENHOUSE.

[0001] The invention relates to the technical field of agricultural robotic gantry systems. The invention aims in particular to provide an agricultural robotic gantry system for a market garden farm comprising at least one multi-span greenhouse.

[0002] US Patent 9,622,398 describes a robotic gantry comprising a walkway that is moved by propulsion means along a plurality of rows of crops, a plurality of agricultural implements coupled to the walkway, a system for supplying electrical power to the propulsion means, a controller that supervises the operation of the propulsion means and the agricultural implements, the controller activating an agricultural implement in response to the detection of predetermined environmental conditions. The patent also describes a method and a computer system for controlling the operation of the robotic gantry.

[0003] Patent application AT 364659 describes a robotic gantry comprising a movable bridge moving longitudinally by means of wheeled chassis running on rails, a movable carriage moving transversely and designed as an equipment carrier (equipment for sowing or planting seeds or for weeding weeds). The equipment carrier has a support movable in the vertical direction. An automatic control, implemented by computer, controls the movement of the bridge and the carriage, as well as the actuation of the equipment for planting plants or sowing seeds and the equipment for weeding.

[0004] Various disadvantages result from such robotic gantries, particularly with regard to the operation of the robotic gantry and the performance of market gardening tasks in a multi-chapel type greenhouse. On the one hand, certain prior art systems require that each chapel have its own robotic gantry, which makes the system particularly expensive. On the other hand, certain prior art systems require that part of the robotic gantry be removed from the generally fixed guidance means in one chapel to be installed in another chapel, which is particularly restrictive to implement, and generally require a manual operation involving one or more market gardeners.

[0005] There is therefore a need to offer a robotic gantry system that makes carrying out market gardening tasks in a multi-chapel greenhouse easier to implement, for example by reducing or even avoiding the aforementioned drawbacks.

[0006] It is an object of the invention to provide a robotic vegetable farm gantry system that overcomes one or more of the drawbacks or limitations of existing robotic gantry techniques.

[0007] According to one aspect, an agricultural robotic gantry system is provided comprising a first carriage capable of moving along longitudinal rails in a longitudinal direction, the first carriage supporting and laterally guiding in a transverse direction a second carriage provided with a tool holder for implementing a tool relative to a cultivation surface in a greenhouse comprising several adjacent chapels, each chapel supporting two substantially horizontal and facing longitudinal rails, said chapels and said longitudinal rails extending in a longitudinal direction.The agricultural robotic gantry system further comprises an inter-span switching mechanism positioned in an inter-span transfer zone extending between the spans in the transverse direction, the inter-span switching mechanism being arranged such that the first carriage is operable either in a working configuration in which the first carriage is movable in a defined span in the longitudinal direction, or in a switching configuration in which the first carriage is translatable from said defined span to a destination span in the transverse direction.The inter-chapel switching mechanism comprises:- substantially horizontal inter-chapel transverse rails, facing each other and extending in the transverse direction between at least said defined chapel and said destination chapel; and- an inter-chapel switching trolley arranged to couple to the first trolley and translatable in the inter-chapel transfer zone by means of the inter-chapel transverse rails. The two longitudinal rails are discontinuous at the inter-chapel transfer zone so as to form two interrupted sections defined on either side of the inter-chapel transfer zone. The inter-chapel switching trolley may comprise two sections of longitudinal switching trolley rails facing each other, each positioned in the associated interrupted section.

[0008] The substantially horizontal and facing longitudinal rails can be fixed to each of the two vertical uprights of the arches of each chapel at a defined height. The inter-chapel transverse rails can be fixed above the longitudinal rails at a determined height so as to allow the movement of the first carriage on the longitudinal rails.

[0009] The inter-span switch trolley may comprise a motorized switch trolley assembly capable of moving the inter-span switch trolley on the inter-span cross rails.

[0010] The motorized switch trolley assembly may comprise, on each side of the inter-chapel switch trolley along the transverse axis, two roller connecting plates for coupling the inter-chapel switch trolley to the inter-chapel transverse rails and guiding it during movement in the transverse direction.

[0011] Each inter-chapelle transverse rail may have a profile extending horizontally and defining a cavity having an opening positioned in a wall in the lower part and over its entire length, the opening having a width smaller than the width of the profile in order to provide in the wall in the lower part at least one shoulder serving as a bearing surface for the rollers of each of the roller connecting plates, said roller connecting plates comprising a set of internal rollers moving on the bearing surface of the shoulder in the cavity of the profile and a set of external rollers moving on the bearing surface of the shoulder externally below the profile so that the inter-chapelle switch carriage is supported and guided during movement in the transverse direction.

[0012] The motorized switch trolley assembly may comprise at least one servomotor and switch reduction unit coupled to pinions in distal position by associated shafts, each of the inter-chapelle transverse rails being provided with a transverse rail rack, said pinions being arranged to mesh with the corresponding transverse rail rack.

[0013] The motorized switch trolley assembly may comprise two servomotor and reduction gear units, one on one side supported by the longitudinal switch trolley rail section, the other on the other side supported by the facing longitudinal switch trolley rail section, the two servomotor and reduction gear units being synchronized.

[0014] The longitudinal rails, the longitudinal switch trolley rail sections, and / or the inter-chest transverse rails may be produced in the form of a profile defining a cavity comprising a power supply and data communication assembly provided with at least one conductive track arranged to cooperate with at least one carbon brush supported by a power supply and communication unit of the first trolley, the second trolley and / or the inter-chest switch trolley.

[0015] At least one longitudinal switch trolley rail section may comprise a retractable stop mechanism comprising a stop plate fixed to said rail by a rotation axis and by a spring, and a jack provided with a finger which cooperates with a lower part projecting from the plate to block or authorize the movement of the first trolley of the longitudinal switch trolley rail sections towards the longitudinal rails.

[0016] At least one longitudinal switch trolley rail section may comprise a retractable stop and centering mechanism comprising a stop plate fixed to said rail by a rotation axis and by a spring, and a jack provided with a finger which cooperates, on the one hand, with a lower part projecting from the plate to block or authorize the movement of the first trolley of the longitudinal switch trolley rail sections towards the longitudinal rails, and, on the other hand, passing through a slide linked to the longitudinal switch trolley rail section and a centering housing linked to the longitudinal rail section to align the longitudinal switch trolley rails and the longitudinal rails.

[0017] The retractable stop mechanism, respectively the combined retractable stop and centering mechanism, may comprise an impact stop fixed to the longitudinal switch trolley rail section by a second rotation axis and by said finger, the impact stop cooperating with an impact damper fixed to the first trolley.

[0018] At least one longitudinal switch trolley rail section may include a translational alignment mechanism including a horizontal axis received in a slide piece, said axis and said slide piece being coupled together via two lateral horizontal springs to make said longitudinal switch trolley rail float in horizontal translation relative to the corresponding longitudinal rail when the finger enters the centering housing of the retractable stop and centering mechanism.

[0019] According to another aspect, there is provided a method of operating an agricultural robotic gantry system in a greenhouse comprising several adjacent chapels comprising the steps of:- directing a first trolley of a robotic gantry to an inter-chapel transfer zone in a defined chapel, the first trolley being movable in a longitudinal direction;- coupling the first trolley to an inter-chapel switching trolley in the inter-chapel transfer zone;- directing the inter-chapel switching trolley carrying the first trolley from the defined chapel to a destination chapel, the inter-chapel switching trolley being translatable in the transverse direction along inter-chapel transverse rails;- stopping the inter-chapel switching trolley in the destination chapel and decoupling the first trolley from the inter-chapel switching trolley;and- move the first trolley to the destination chapel to carry out the planned market gardening task(s).;

[0020] The invention is particularly applicable for robotic gantries providing various interventions on the growing area in order to improve the performance of market gardening tasks in a multi-chapel type greenhouse. The robotic gantry system according to the invention also has the following advantages: - It does not include a wheel or track moving directly on the ground, or the installation of a rail on the ground, thereby making it possible to satisfactorily manage the problems of soil compaction, and free up the ground area for traffic and other uses; - The system does not require the installation of complex infrastructures; - The system is structurally light, compact and simple to install, it is therefore particularly suitable for market garden greenhouses, the greenhouse comprising one or more chapels, the agricultural operation being able to comprise several greenhouses;- The system allows an automated change from one chapel to another, optionally from one greenhouse to another, resulting in a gain in productivity; - The system allows an automation of the longest, most arduous and repetitive market gardening tasks in order to concentrate the work of market gardeners on tasks with higher added value.;

[0021] Other advantages will emerge from the following description of the invention.

[0022] The present invention is illustrated by examples and not limited to the accompanying drawings, in which similar references indicate similar elements:● The Figure is a perspective view schematically representing a micro-market garden farm comprising a greenhouse comprising several chapels;● The Figure is a schematic view in perspective from above and semi-transparent illustrating a greenhouse comprising several chapels, equipped with a robotic gantry according to an embodiment of the invention;● The Figure is a front view of a chapel shown in schematically illustrating the robotic gantry system according to an embodiment of the invention;● The Figure is a multiple schematic view illustrating the transfer of the trolley of the robotic gantry according to an embodiment of the invention from one chapel to another, in a multi-chapel greenhouse;● Figures 1 and 2 are schematic views, respectively in perspective from above and from the side, of the robotic gantry located in an inter-chest transfer zone according to an embodiment of the invention; ● Figure 1 is a schematic and partial view in perspective from above showing a part of the inter-chest switching trolley, without the trolley of the robotic gantry, according to an embodiment of the invention; ● Figure 2 is a schematic front view of a part of the inter-chest switching trolley and the robotic gantry located in the inter-chest transfer zone showing a detail of Figure 1; ● Figure 2 is a schematic side view of a part of the inter-chest switching trolley and the robotic gantry located in the inter-chest transfer zone showing a detail of Figure 1 according to AA;● The Figure is a schematic side view of a part of the inter-span switching trolley showing a detail of the Figure in which the trolley of the robotic gantry has been omitted for clarity;● The Figures and are schematic sectional views, respectively from the side and from the front, illustrating rails with integrated power and data tracks of the robotic gantry according to an embodiment of the invention;● The Figures and are schematic side and perspective views from above, respectively, of a retractable stop mechanism of the robotic gantry located in an inter-span transfer zone according to an embodiment of the invention;● The Figures and are schematic side perspective views, respectively, and from the side in partial section, of a combined retractable stop and centering mechanism of the robotic gantry located in an inter-span transfer zone according to an embodiment of the invention;and● The Figure is a schematic front view in partial section illustrating a translational alignment mechanism of the robotic gantry located in an inter-span transfer zone according to one embodiment of the invention.; Detailed description

[0023] The invention will be understood from the following description, in which reference is made to the accompanying drawings. Robotic gantry in the greenhouse:

[0024] The Figure schematically shows a micro-market garden farm MF in a perspective view. The micro-market garden farm MF comprises, for example, at least one greenhouse 1 comprising several chapels, for example four adjacent chapels 1A, 1B, 1C and 1D.

[0025] The Figure schematically shows a greenhouse 1 comprising four adjacent chapels 1A, 1B, 1C and 1D according to a semi-transparent top perspective view. The Figure is a front view of a first chapel 1A shown in schematically showing the robotic gantry system 10. The first chapel 1A is made by a succession of arches 3 aligned in a longitudinal direction X, each arch being appropriately anchored in the ground 2. A cultivation surface, i.e. rows of vegetable crops RM extend on the ground 2 under the first chapel 1A in the longitudinal direction X in a cultivation area 7. Also, a tool storage area 6 is provided on the ground 2 under the first chapel 1A.Although the Figure shows this tool storage area 6 at the end of the first chapel 1A, it could also be positioned elsewhere in the first chapel 1A, for example in the middle of the growing area 7, or elsewhere in the greenhouse 1, for example in another chapel 1B, 1C, 1D, or elsewhere outside the greenhouse 1. The first chapel 1A is provided with a robotic gantry system 10. Substantially horizontal and facing longitudinal rails 4A and 4B are fixed to each of the two vertical uprights of the arches 3 at an appropriately defined height. The longitudinal rails 4A and 4B extend in the longitudinal direction X. A first carriage 11 can move along the longitudinal rails 4A, 4B in the longitudinal direction X. The movement in the longitudinal direction X is carried out by a motorized assembly 13A powered and controlled by a first electrical box 14A.The first carriage 11 (two parallel rails extending in the transverse direction Y coupled by a reinforcing structure and coupled to the longitudinal rails 4A and 4B by means of two roller assemblies at the level of the two respective flanks) ensures the support and lateral guidance of a second carriage 12 in the transverse direction Y. The second carriage 12 is provided with a tool holder 20 for implementing a tool 30 relative to the cultivation surface, for example rows of RM market garden crops. The cultivation tool 30 may be an agricultural tool of the passive type (i.e. essentially mechanical) or of the active type (i.e. possibly comprising a motor and / or actuators and / or sensors).By way of non-limiting examples, the tool 30 may be a leveling tool, a soil roller, a rake, a cultivator, a seeder, a weeding tool, a harrow or precision disc, a plant transplanter, a subsoiler, a spreader, a ploughshare, a planter, a device for treating unwanted plants, etc. The second carriage 12 also comprises a column 15 for moving the tool 30 in the vertical direction Z. The movements in the transverse Y and vertical Z directions are provided by a second motorized assembly 13B powered and controlled by a second electrical box 14B. Stops 5 may be provided, for example at one or two rails 4A, 4B to prevent the robotic gantry 10 from moving beyond a predefined extreme position.A computer system 50 controls the operation of the robotic gantry 10, i.e. the movement of the carriages 11, 12, of the tool holder 20, of the column 15, the choice of the tool 30 adapted to the planned agricultural intervention and the actuation of the tool 30. More precisely, the computer system 50 comprises a computer 51 provided with a memory 52 in which is stored software 53 for managing the market gardening activity, planning and daily monitoring of the activity of the operation of the micro-market garden farm MF. The computer system 50 can also interact with a mobile device such as a computer tablet or multifunction mobile / smartphone 54. The computer system 50 can also receive various data (meteorology, temperature, air humidity, soil humidity, wind, sunshine, soil condition, plant condition, etc.) from sensors 8 arranged inside and outside the greenhouse 1. This data can be taken into account by the software 53.The detailed operation of the robotic gantry system 10, the tool holder 20 and the implementation of a tool 30 will not be described in more detail here because these elements are not part of the subject of the present invention and are described in detail in patent application FR2112079.

[0026] The other chapels 1B, 1C and 1D can be designed in a similar way to the first chapel 1A. Other greenhouses similar to the first greenhouse 1 can also be part of the micro-market garden farm MF. Inter-chapel transfer zone:

[0027] An inter-chapel transfer zone 60 is provided between the different chapels, that is to say between the four adjacent chapels 1A, 1B, 1C and 1D. The inter-chapel transfer zone 60 comprises an inter-chapel switching mechanism 61 allowing the carriage 11 of the robotic gantry 10 either to continue its path in the longitudinal direction X, or to be translated to leave the chapel in which it is located and go to another chapel or another greenhouse in the transverse direction Y. In the embodiment shown in the Figure, the inter-chapel transfer zone 60 is unique and extends in the transverse direction Y from the first chapel 1A, towards the second chapel 1B then the third chapel 1C and ends in the fourth chapel 1D. The inter-chapel transfer zone 60 can be positioned at any position along the longitudinal direction X, at either end, in the middle, etc.The Figure shows an inter-chapel transfer zone 60 substantially centered in greenhouse 1.

[0028] Substantially horizontal and facing inter-chapel transverse rails 70A and 70B are fixed to the vertical uprights of the arches 3. The inter-chapel transverse rails 70A and 70B are fixed at a height such that they do not hinder the movement of the first carriage 11 on the longitudinal rails 4A, 4B. The inter-chapel transverse rails 70A and 70B may be fixed above the longitudinal rails 4A, 4B. In the example shown in the Figure, the inter-chapel transverse rails 70A and 70B extend in one piece from one lateral side of the greenhouse, i.e. from the first chapel 1A, to the other lateral side of the greenhouse, i.e. from the fourth chapel 1D, crossing all the chapels transversely in the transverse direction Y.

[0029] The inter-chapel transfer zone 60 interfaces with the longitudinal rails 4A, 4B extending in the longitudinal direction X. It is therefore positioned high up and does not interfere with the cultivation surface, i.e. with the rows of vegetable crops RM extending over the ground 2.

[0030] The longitudinal rails 4A, 4B are discontinuous in the inter-chapel transfer zone 60. More precisely, each longitudinal rail 4A or 4B stops on either side of the limit of the inter-chapel transfer zone 60, forming an interrupted section.

[0031] Although not shown, the inter-chapel transfer zone 60, while extending in the transverse direction Y, may be provided in different sections between two adjacent chapels, for example in the middle between the first 1A and the second 1B chapel, at one end between the second 1B and the third 1C chapel and at another end between the third 1C and the fourth 1D chapel. According to this embodiment, the inter-chapel transverse rails 70A and 70B are produced in the form of independent sections extending between two directly adjacent chapels, that is to say for example a first section of inter-chapel transverse rails between the first 1A and the second 1B chapel, a second section between the second 1B and the third 1C chapel and a third section between the third 1C and the fourth 1D chapel.Furthermore, although not shown, the inter-chapel transfer zone 60 may also extend from the greenhouse 1 to another greenhouse arranged adjacently.

[0032] An inter-span switch carriage 62 is provided for moving in the inter-span transfer zone 60. The carriage moves from one span to another via the inter-span transverse rails 70A and 70B. The inter-span switch carriage 62 comprises two sections of longitudinal switch carriage rails 63A, 63B facing each other which are positioned in the interrupted section (visible for example in the Figure). A motorized assembly of the switch carriage 64 ensures the movement of the inter-span switch carriage 62 on the inter-span transverse rails 70A and 70B. How the inter-chapel transfer works:

[0033] The Figure is a multiple schematic view which illustrates the transfer of the carriage 11 of the robotic gantry 10 according to an embodiment of the invention from a first chapel 1A to a third chapel 1C, for a multi-chapel greenhouse 1 comprising a single inter-chapel transfer zone 60 substantially positioned in the middle of the greenhouse.

[0034] In a first step S1, the first carriage 11 of the robotic gantry 10 is directed towards the inter-chapel transfer zone 60 in the first chapel 1A. The first carriage 11 moves along the longitudinal axis X.

[0035] During a second step S2, once the inter-chapel transfer zone 60 has been reached, the first carriage 11 of the robotic gantry 10 is therefore coupled to the inter-chapel switching carriage 62. The first carriage 11 of the robotic gantry 10 can be locked in place on the inter-chapel switching carriage 62.

[0036] In a third step S3, the inter-span switching trolley 62 carrying the first trolley 11 of the robotic gantry 10 is directed towards the destination span, in this example the third span 1C. The inter-span switching trolley 62 moves along the transverse axis Y along the inter-span transverse rails 70A and 70B.

[0037] In a fourth step S4, the inter-span switch carriage 62 reaches the third destination span 1C. It is appropriately locked in position so that the two facing longitudinal switch carriage rail sections 63A, 63B are positioned in the interrupted section to form continuous longitudinal rails 4A, 4B in this span. At the end of this transfer operation, the first carriage 11 of the robotic gantry 10 is decoupled from the inter-span switch carriage 62.

[0038] In a fifth step S5, the first trolley 11 of the robotic gantry 10 can be moved into the third chapel 1C to carry out the planned market gardening task(s) there. The inter-chapel switching trolley 62 remains in position in this third chapel 1C in order to maintain the continuity of the longitudinal rails 4A, 4B via the two longitudinal switching trolley rail sections 63A, 63B and to allow the first trolley 11 of the robotic gantry 10 to move throughout this chapel. Inter-chapel switching trolley:

[0039] The Figure is a schematic perspective view from above of an example of a robotic gantry, in which the first trolley 11 and the second trolley 12 are located in the inter-chest transfer zone 60, only a portion of a single chapel is shown in this Figure and the longitudinal rails 4A, 4B are not shown for reasons of clarity. The Figure is a schematic side view of the robotic gantry located in the inter-chest transfer zone 60 which particularly illustrates the manner in which the first trolley 11 and the second trolley 12 interface with the inter-chest switch trolley 62, and also the motorized assembly 64 of the inter-chest switch trolley 62. The Figure is a schematic and partial perspective view from above showing a portion of the inter-chest switch trolley 62, without the trolleys 11, 12 of the robotic gantry for reasons of clarity.The Figure is a schematic front view of a portion of the inter-chest switch carriage 62 and the robotic gantry 11 located in the inter-chest transfer area 60 showing a detail of the Figure. The Figure is a schematic side view of a portion of the inter-chest switch carriage 62 and the robotic gantry 10 located in the inter-chest transfer area 60 showing a detail of the Figure according to section AA. The Figure is a schematic side view of a portion of the inter-chest switch carriage 62 showing a detail of the Figure in which the robotic gantry carriage 11 has been omitted for clarity.

[0040] The inter-span switch carriage 62 comprises a motorized switch carriage assembly 64 coupled to a switch carriage electrical box 65A. According to the exemplary embodiment presented, the motorized switch carriage assembly 64 may comprise, on each side of the inter-span switch carriage 62 in the transverse direction Y, two roller connecting plates 69A, respectively 69B, making it possible to couple the inter-span switch carriage 62 to the inter-span transverse rails 70A, respectively 70B and guide it in its movement in the transverse direction Y.The Figure shows a section of an inter-chapelle transverse rail 70A which has a profile extending horizontally and defining a cavity having an opening positioned in a wall in the lower part and over substantially the entire length of the inter-chapelle transverse rail 70A, the opening having a width smaller than the width of the profile in order to provide in the wall in the lower part at least one shoulder, for example two shoulders 72A, 72B on either side of the opening. The two shoulders serve as a bearing surface for the rollers of each of the roller connecting plates 69A, 69B, for example a set of internal rollers 73 (moving on the bearing surface of a shoulder in the cavity of the profile) and external rollers 74 (moving on the bearing surface of a shoulder externally for example below the profile). Thus, the inter-chapel switching carriage 62 is supported and guided during movement in the transverse direction Y.The motorized switch trolley assembly 64 may comprise a switch servomotor and reduction unit 66A coupled to respective pinions 67A, 67B by associated shafts 68A, 68B. The servomotor and reduction unit 66A may be positioned and supported substantially in the middle of one of the two longitudinal switch trolley rail sections 63A, 63B. The shafts 68A, 68B may extend on either side of the servomotor and reduction unit 66A, substantially horizontally and parallel to the rail section 63A, and terminate with the pinions 67A, 67B in a distal position. Each of the inter-span transverse rails 70A, respectively 70B may be provided with a transverse rail rack 71A, respectively 71B. The pinions 67A, respectively 67B are positioned and provided to mesh with the corresponding transverse rail rack 71A, respectively 71B.In the embodiment shown, more specifically, the motorized switch trolley assembly 64 may comprise two servomotor and reduction gear units, one 66A on one side supported by the longitudinal switch trolley rail section 63A (as described above), the other 66B on the other side supported by the facing longitudinal switch trolley rail section 63B (visible in Figures 1 and 2). The unit 66B will not be described in more detail because this unit is identical in its coupling to the racks and its operation. The two servomotor and reduction gear units 66A, 66B are advantageously synchronized in their operation and allow a regularly smooth translation of the inter-chest switch trolley 62 during the inter-chest transfer in the transverse direction Y. Rails with integrated tracks:

[0041] The Figures are schematic sectional views, respectively from the side and from the front, illustrating rails with a power supply and data communication assembly 80 integrated and internal to the rails for the robotic gantry according to an embodiment of the invention. The integrated and internal power supply and data communication assembly 80 is completely optional, it allows to obtain an efficient and reliable power supply and data exchange. However, these functions could also be achieved otherwise by an autonomous battery power supply of each of the carriages, and / or a wireless data transmission by any appropriate technology.The integrated and internal power supply and data communication assembly 80 may relate to any of the rails described above, namely the longitudinal guide rails along the longitudinal axis X 4A, 4B, the longitudinal switch trolley rail sections 63A, 63B, and / or the inter-chapel transverse rails 70A, 70B. Each of these rails may be a profile extending horizontally and defining a cavity having an opening positioned in the lower part and over the entire length of each rail, the opening having a width smaller than the width of the profile in order to provide at least one shoulder, for example two shoulders on either side of the opening. Each shoulder may serve as a bearing surface for one or more rollers of roller connecting plates.The rollers are arranged to cooperate with the profile, that is to say to move on the bearing surfaces of the shoulders and, thus, to support and guide the various carriages (first carriage 11, second carriage 12 of the robotic gantry 10 and inter-chapel switching carriage 62) during their movements in the longitudinal direction X or the transverse direction Y. The power supply and data communication assembly 80 comprises at least one conductive track 81A, 81B. The profile may comprise at least one electrical power supply track for the motors of the carriages 81A. The profile may also comprise at least one data track 81B for the transmission of data and commands between the computer system 50 and the carriages 11, 12, 62. The conductive tracks 81A, 81B may be multiplied in number to ensure redundancy.Each conductive track 81A, 81B can be produced in the form of a conductive track received in a plastic guide. The rails described above 4A, 4B, 63A, 63B, 70A, 70B are powered independently of each other. The carriages described above 11, 12, 62 are provided with carbon brushes 82 supported by a power supply and communication unit 83, for example supported by a roller connection plate, located in the cavity of the profile, and rubbing on the conductive tracks 81A, 81B.

[0042] During the inter-chapel transfer, on the one hand the power supply to the tracks of the longitudinal rails 4A, 4B and the power supply to the tracks of the longitudinal switch trolley rail sections 63A, 63B are cut off, and on the other hand a redundancy of the power supply is provided with regard to the tracks of the inter-chapel transverse rails in order to ensure a smooth transfer from one chapel to another.

[0043] Furthermore, the tracks of the longitudinal rails 4A, respectively 4B and the tracks of the longitudinal switch trolley rail sections 63A, respectively 63B are substantially aligned in order to ensure smooth passage of the inter-chapel transfer zone 60 when moving the first trolley 11 of the robotic gantry 10 into a chapel to carry out market gardening tasks there (the inter-chapel switch trolley 62 being locked in place in the chapel where the market gardening tasks are carried out). Retractable stop mechanism:

[0044] Figures 1 and 2 are schematic side and top perspective views respectively of a retractable stop mechanism 90 for the first carriage 11 of the robotic gantry 10. The retractable stop mechanism 90 is completely optional, however it reduces the risk of mishandling during transfers. In these Figures, the first carriage 11 is about to approach the junction between the longitudinal rails 4A, 4B and the longitudinal switch trolley rail sections 63A, 63B, and to arrive in the inter-chest transfer zone 60. The retractable stop mechanism 90 is activated during inter-chest transfer operations according to one embodiment of the invention. Figures 1 and 2 show only one retractable stop mechanism 90, in a deactivated state, for reasons of clarity.

[0045] The retractable stop mechanism 90 is only activated when the first trolley 11 is in the inter-span transfer area and when transferring the first trolley 11 from one span to another span. It provides a safety function, preventing any movement of the first trolley 11 out of the inter-span transfer area 60 from the beginning to the end of the inter-span transfer operation. Alternatively, it can also be configured to prevent the trolley 11 from moving to the transfer area if the inter-span switch trolley 62 is not present there. The retractable stop mechanism 90 comprises at least two retractable stops suitably positioned at the ends of the longitudinal switch trolley rail sections 63A, 63B.Each retractable stop constitutes a mechanical obstacle blocking the movement of the first trolley 11 out of the longitudinal switch trolley rail sections 63A, 63B towards the longitudinal rails 4A, 4B.

[0046] Each retractable stop comprises a stop plate 91, a spring 92 and a jack 93. The stop plate 91 is fixed to the rail (for example to one of the longitudinal switch trolley rail sections 63A, 63B) by a rotation axis and by the spring 92 in the upper part of the stop plate 91. The jack 93 comprises a finger 95 which cooperates with a lower projecting part 94 of the stop plate 91 in order to activate or deactivate the retractable stop 90. Under the action of the finger of the jack 93, the lower projecting part 94 of the stop plate 91 is pushed back, the spring 92 is tensioned, the retractable stop 90 is not activated and the stop plate 91 allows the passage of the first trolley 11. When the jack 93 is deactivated, the part low protruding portion 94 of the stop plate 91 is pushed back under the action of the spring 92, the retractable stop 90 is activated and the stop plate 91 blocks the passage of the first carriage 11.

[0047] During the transfer phase between two chapels, the finger 95 of the jack 93 is retracted and the retractable stop 90 is activated by the action of the spring 92 so that the stop plate 91 blocks the passage of the first carriage 11.

[0048] The retractable stop mechanism 90 is advantageously interfaced with the computer system 50 which controls its operation in coordination with the transfer of the carriage between different chapels during an inter-chapel transfer operation.

[0049] Figures 1 and 2 are schematic side perspective and partially sectional side views of a combined retractable stop and centering mechanism 90A. This mechanism differs from that of Figures 1 and 2 in that it further comprises a centering means which cooperates with the retractable stop to ensure better alignment, more precisely to correct any alignment problems. Such alignment problems can have various causes, such as expansion phenomena, the difficulty of perfect alignment in a large greenhouse structure comprising a large number of chapels, etc. The centering means ensures that the inter-chapel switching carriage is correctly positioned in the inter-chapel transfer zone 60, which greatly reduces the risk of blockage during transfer.

[0050] Each retractable and centering stop 90A comprises a stop plate 91, a spring 92, a slide 96, a centering housing 97 and a jack 93. The stop plate 91 is fixed to the rail (for example to one of the longitudinal switch trolley rail sections 63A, 63B) by a rotation axis and by the spring 92 in the upper part of the stop plate 91. The jack 93 comprises a finger 95 which cooperates, on the one hand, with a lower projecting part 94 of the stop plate 91 in order to activate or deactivate the retractable stop 90, and, on the other hand, with the centering housing 97 linked to a longitudinal rail section 4A, 4B while crossing the slide 96 linked to a longitudinal switch trolley rail section 63A, 63B. The centering housing 97 is through-shaped so that the end of the finger 95 can pass right through it to activate the lower projecting part 94.Under the action of the finger 95 of the jack 93, the lower projecting part 94 of the stop plate 91 is pushed back, the spring 92 is tensioned, the retractable stop 90 is not activated and the stop plate 91 allows the passage of the first carriage 11, the longitudinal rails 4A, 4B and the longitudinal switch carriage rails 63A, 63B being perfectly aligned by means of the finger 95 guided in the slide 96 and penetrating the centering housing 97. When the jack 93 is deactivated, the lower projecting part 94 of the stop plate 91 is pushed back under the action of the spring 92, the retractable stop 90 is activated and the stop plate 91 blocks the passage of the first carriage 11, the end of the finger 95 then being housed in the slide 96 and well out of the centering housing 97.During the transfer phase between two chapels, the finger 95 of the jack 93 is retracted and the retractable stop 90 is activated by the action of the spring 92 so that the stop plate 91 blocks the passage of the first carriage 11, the end of the finger 95 being outside the centering housing 97, the latter no longer blocks the relative movement between the longitudinal rails 4A, 4B and the longitudinal switch carriage rails 63A, 63B.

[0051] The combined retractable stop and centering mechanism 90A is interfaced with the computer system 50 which controls its operation in coordination with the transfer of the carriage between different chapels during an inter-chapel transfer operation.

[0052] Optionally, the retractable stop mechanism 90, respectively the combined retractable stop and centering mechanism 90A may also comprise an impact stop 98. The impact stop 98 is fixed to the rail (for example to one of the longitudinal switch trolley rail sections 63A, 63B) by a rotation axis and by the finger 95. The impact stop 98 is provided to cooperate with an impact absorber 99 fixed to the first trolley 11. The impact stop 98 and the impact absorber 99 make it possible to absorb the impact of the trolley 11 when the latter is moved laterally during the transfer phase between two chapels and when it reaches a final transfer position in the destination chapel.

[0053] Still optionally, at least one positioning sensor 8A may be provided to confirm the position of the first carriage 11 in the inter-chest transfer zone 60 and the alignment with the longitudinal rails. The positioning sensor 100 is also interfaced with the computer system 50 which controls the operation of the retractable stop mechanism 90, respectively of the combined retractable stop and centering mechanism 90A in coordination with the transfer of the carriage between different chapels during an inter-chest transfer operation.

[0054] The Figure is a schematic front view in partial section illustrating a translation alignment mechanism 100. This translation alignment mechanism 100 may in particular cooperate with the combined retractable stop and centering mechanism 90A of Figures 1 to 2. The translation alignment mechanism 100 comprises a horizontal axis 101 received in a slide piece 102, said axis 101 and said slide piece 102 being coupled together by means of two lateral horizontal springs 103A, 103B. In this way, at least one longitudinal switch carriage rail 63A and / or 63B which accommodates the first carriage is floating. It can translate horizontally, for example by + / - 10 mm in the longitudinal direction.The translational alignment mechanism 100 can cooperate with the combined retractable stop and centering mechanism 90A to form a flexible interface for correcting alignment problems, and ensuring alignment when transferring the first trolley between two chapels. Indeed, the translational alignment mechanism 100 offers an additional degree of freedom for making said longitudinal switch trolley rail 63A and / or 63B float in translation horizontally relative to the corresponding longitudinal rail 4A and / or 4B when the finger 95 enters the centering housing 97 of the retractable stop and centering mechanism 90A.

[0055] The drawings and their description above illustrate rather than limit the invention. It should be noted that, although the embodiments and alternatives of the present invention have been illustrated for use in a greenhouse comprising several chapels, it is also suitable for use between several greenhouses (inter-greenhouse transfer) with a single chapel or several chapels. It can also be used for use outside a greenhouse to the extent that the area to be cultivated would be provided with posts supporting rails allowing the robotic gantry to move, the greenhouse is therefore to be understood in its broadest sense, namely a cultivation surface under a cultivation structure. In addition, several electrical boxes have been presented to differentiate the control and power supply of different elements, but they could just as well be grouped in a single electrical box.Whether the power supply and data communication assembly or the various retractable stop mechanisms as shown and described, they are not essential to the operation of the inter-chest switch trolley and therefore to the inter-chest transfer which can be operated independently of these devices, the power supply and data communication assembly and the various retractable stop mechanisms being only means to improve the efficiency and safety of the inter-chest transfer. In particular, the integrated tracks of the power supply and data communication assembly can be replaced by cables, and the retractable stop mechanism can be omitted. Furthermore, the data communication can also be carried out by any type of wireless communication means, for example by WiFi (from the English "Wireless Fidelity", in accordance with the IEEE 802.11 standard).

Claims

An agricultural robotic gantry system (10) for a greenhouse (1) comprising several adjacent chapels (1A, 1B, 1C, 1D) comprising: - a first trolley (11) capable of moving along longitudinal rails (4A, 4B) in a longitudinal direction (X), the first trolley (11) supporting and guiding laterally in a transverse direction (Y) a second trolley (12) equipped with a tool holder (20) to implement a tool (30) relative to a growing area (RM), each chapel supporting two substantially horizontal and opposite longitudinal rails (4A, 4B), said chapels and said longitudinal rails extending in a longitudinal direction (X);- an inter-chapel switching mechanism (61) positioned in an inter-chapel transfer zone (60) extending between the chapels (1A, 1B, 1C, 1D) in the transverse direction (Y), the inter-chapel switching mechanism (61) being arranged such that the first carriage (11) is operable either in a working configuration in which the first carriage (11) is movable within a defined chapel in the longitudinal direction (X), or in a switching configuration which is characterized in that the first carriage (11) is translatable from said defined chapel to a destination chapel in the transverse direction (Y); the system is further characterized in that the inter-chapel switching mechanism (61) comprises: - substantially horizontal inter-chapel transverse rails (70A, 70B), facing each other and extending in the transverse direction (Y) between at least said defined chapel and the said chapel of destination;and- an inter-chapel switch carriage (62) arranged to couple to the first carriage (11) and translatable in the inter-chapel transfer zone (60) by means of the inter-chapel transverse rails (70A, 70B); and in that:- the two longitudinal rails (4A, 4B) are discontinuous at the level of the inter-chapel transfer zone (60) so as to form two interrupted sections defined on either side of the inter-chapel transfer zone (60); and- the inter-chapel switch carriage (62) comprises two sections of longitudinal switch carriage rails (63A, 63B) facing each other, each positioned in the associated interrupted section.; The system according to claim 1, wherein: - the substantially horizontal longitudinal rails (4A, 4B) opposite each other are fixed on each of the two vertical uprights of the arches (3) of each chapel (1A, 1B, 1C, 1D) at a defined height; and - the inter-chapel transverse rails (70A, 70B) are fixed above the longitudinal rails (4A, 4B) at a determined height so as to allow the movement of the first trolley (11) on the longitudinal rails (4A, 4B). The system according to claim 1 or 2, wherein the inter-chapel switch trolley (62) comprises a motorized switch trolley assembly (64) capable of moving the inter-chapel switch trolley (62) on the inter-chapel transverse rails (70A, 70B). The system according to claim 3, in which the motorized switch trolley assembly (64) comprises, on each side of the inter-chapel switch trolley (62) along the transverse axis (Y), two roller connecting plates (69A, 69B) for coupling the inter-chapel switch trolley (62) to the inter-chapel transverse rails (70A, 70B) and guiding it during movement along the transverse direction (Y). The system according to claim 4, wherein each cross rail (70A, 70B) has a horizontally extending profile defining a cavity with an opening positioned in a wall at its lower end and along its entire length, the opening having a width smaller than the width of the profile in order to provide at least one shoulder (72A, 72B) in the lower part of the wall serving as a bearing surface for the rollers of each of the roller connecting plates (69A, 69B), said roller connecting plates (69A, 69B) comprising a set of internal rollers (73) moving on the bearing surface of the shoulder within the cavity of the profile and a set of external rollers (74) moving on the bearing surface of the shoulder externally below the profile such that the cross rail switch carriage (62) is supported and guided during movement in the transverse direction (Y). The system according to any one of claims 3 to 5, wherein the motorized switch trolley assembly (64) comprises at least one switch servomotor and reducer unit (66A) coupled to pinions (67A, 67B) in a distal position by associated shafts (68A, 68B), each of the inter-chapel transverse rails (70A, 70B) being provided with a transverse rail rack (71A, 71B), said pinions (67A, 67B) being arranged to mesh with the corresponding transverse rail rack (71A, 71B). The system according to claim 6, wherein the motorized switch carriage assembly (64) comprises two servomotor and gearbox units, one (66A) on one side supported by the longitudinal switch carriage rail section (63A), the other (66B) on the other side supported by the opposite longitudinal switch carriage rail section (63B), the two switch servomotor and gearbox units (66A, 66B) being synchronized. The system according to any one of claims 1 to 7, wherein each of the longitudinal rails (4A, 4B), longitudinal switch trolley rail sections (63A, 63B), and / or inter-chapel transverse rails (70A, 70B) are made in the form of a profile defining a cavity comprising a power supply and data communication assembly (80) provided with at least one conductive track (81A, 81B) arranged to cooperate with at least one carbon brush (82) supported by a power supply and communication unit (83) of the first trolley (11), the second trolley (12) and / or the inter-chapel switch trolley (62). The system according to any one of claims 1 to 8, wherein at least one longitudinal switch carriage rail section (63A, 63B) comprises a retractable stop mechanism (90) including a stop plate (91) fixed to said rail by a pivot pin and a spring (92), and a cylinder (93) having a finger (95) which cooperates with a lower projecting part (94) of the plate (91) to block or allow the movement of the first carriage (11) of the longitudinal switch carriage rail sections (63A, 63B) towards the longitudinal rails (4A, 4B). The system according to any one of claims 1 to 8, wherein at least one longitudinal switch carriage rail section (63A, 63B) comprises a retractable stop and centering mechanism (90A) including a stop plate (91) fixed to said rail by a pivot pin and a spring (92), and a jack (93) having a finger (95) which cooperates, on the one hand, with a projecting lower part (94) of the plate (91) to block or allow the movement of the first carriage (11) from the longitudinal switch carriage rail sections (63A, 63B) to the longitudinal rails (4A, 4B), and, on the other hand, passing through a slide (96) connected to the longitudinal switch carriage rail section (63A, 63B) and a centering housing (97) connected to the section of longitudinal rails (4A, 4B) to align the longitudinal switch wagon rails (63A, 63B) and the longitudinal rails (4A, 4B). The system according to claim 9 or 10, wherein the retractable stop mechanism (90), respectively the combined retractable stop and centering mechanism (90A) comprises an impact stop (98) fixed to the longitudinal switch trolley rail section (63A, 63B) by a second axis of rotation and by said finger (95), the impact stop (98) cooperating with an impact damper (99) fixed on the first trolley (11). The system according to claim 10, wherein at least one section of longitudinal switch carriage rail (63A; 63B) comprises a translation alignment mechanism (100) having a horizontal axis (101) received in a slide piece (102), said axis (101) and said slide piece (102) being coupled together by means of two lateral horizontal springs (103A, 103B) in order to make said longitudinal switch carriage rail (63A; 63B) float in horizontal translation relative to the corresponding longitudinal rail (4A; 4B) when the finger (95) enters the centering housing (97) of the retractable stop and centering mechanism (90A). A method for operating an agricultural robotic gantry system (10) according to any one of claims 1 to 12, in a greenhouse (1) comprising several adjacent sections (1A, 1B, 1C, 1D) comprising the steps: - directing a first trolley (11) of a robotic gantry (10) towards an inter-section transfer zone (60) in a defined section, the first trolley (11) being movable in a longitudinal direction (X); - coupling the first trolley (11) to an inter-section switching trolley (62) in the inter-section transfer zone (60); - directing the inter-section switching trolley (62) transporting the first trolley (11) from the defined section to a destination section, the inter-section switching trolley (62) being translatable in the transverse direction (Y) along inter-section transverse rails (70A, 1B, 1C, 1D). 70B);- stop the inter-chapel switching trolley (62) in the destination chapel and detach the first trolley (11) from the inter-chapel switching trolley (62); and - move the first trolley (11) into the destination chapel to carry out the planned market gardening task(s).