Modular agricultural robot

Abstract

Modular agricultural robot (1) for the automatic execution of field work comprising a left side panel module (2), a right side panel module (3) and a connecting module (5), wherein the connecting module (5) connects the left side panel module (2) and the right side panel module (3) and includes a suspension (12) for attaching an interchangeable work module (6), wherein each side panel module is equipped with at least one wheel unit (4) with a drive for the wheel unit (4) and at least one of the wheel units (4) is rotatable about the vertical axis, characterized in that the connecting module (5) is a telescopic mechanism comprising a central frame (7) and at least one extendable component, wherein the extendable component is movably attached to the central frame (7) at one end and to the side panel module at the other end.wherein the connecting module (5) further comprises a drive of the telescopic mechanism of the connecting module (5) for extending and retracting the extendable component, wherein the agro-robot (1) further comprises a control system (10) for controlling the drive of the telescopic mechanism and for controlling and rotating at least one wheel unit (4).

Description

Technical subject area

[0001] The technical solution concerns a modular agricultural robot designed for autonomous and teleoperative field work. State of the art

[0002] Currently, autonomous agricultural robotics is a dynamically developing field where numerous research projects on robotic technologies are being implemented, but few functional technological solutions analogous to the proposed agricultural robot are offered on the real market. In the area of ​​modular systems, the closest to our solution is the Robotti machine from the Danish manufacturer Agrointelli, presented in patent WO 2020 / 108713. This is a modular agricultural robot, also based on two side panels, one right and one left, rigidly connected by a connecting element. The base of the side panel module is a frame that houses the combustion engine, fuel tank, hydraulic unit, and other elements necessary for the operation and control of the machine from above, with two chassis attached to it from below.

[0003] One can turn the wheel in a specific direction, the other cannot. However, Robotti doesn't have the ability to turn all its wheels, which impairs its maneuverability, and it is unable to use variable driving modes depending on its current needs.

[0004] All of the machine's drives are hydraulic, which has the disadvantage of low efficiency. Regarding the power source, the robot is available in two versions: with one or two internal combustion engines in each side wall module. However, in the version with two internal combustion engines and the requirement for lower operating power, it is not possible to operate the machine solely with the internal combustion engine of a single side wall module, as the two units are not connected to a common power grid. Another disadvantage is the fact that one side wall module is firmly connected to the connecting element by screw connections, while the other is connected by a rotary joint. The connecting element is connected to the side wall modules longitudinally not in the middle, but in the central section.While this combination forms a structure that is always in contact with the ground at four points in the form of tire contact patches, the position of the implement relative to the ground follows that of the side wall module, which is firmly connected to the connecting element. Furthermore, the connecting element at the front of the machine is not ideal in terms of force distribution across the machine structure. Another significant disadvantage is the fixed width of the connecting element.

[0005] Another existing solution is a modular autonomous agricultural vehicle, according to patent US20200060058, which comprises two sidewall modules equipped with four directional rotating wheel units or track units connected by a flexible connecting element. However, this module is designed to accurately replicate the unevenness of the surface relative to the individual implements attached to the connecting element, rather than to ensure the interlocking of the sidewall modules to maintain contact of all four wheels with the ground. One of the sidewall modules houses the combustion engine, the power generator, and the hydraulic unit; the other module houses the fuel tank and the accumulator.The torque at the output of the combustion engine is used not only to drive the generator and hydraulic pump to provide the necessary electrical energy and hydraulic fluid, but also to directly drive the robot's chassis. This solution is quite complex due to the number of subsystems involved. In addition to the electrical and hydraulic lines, it must also include the mechanical elements and transmissions for the traction drive. Another solution representing the state of the art is the autonomous agricultural platform DOT from Dot Technology Corp, disclosed in patent US11427120. It is also a modular system, but does not use side wall modules.

[0006] It is based on a U-shaped support structure, with one of the branches carrying all the subsystems required to power the machine, including the combustion engine, fuel tank, hydraulic power pack, and other elements necessary for its operation and control. The robot is equipped with four wheels that rotate in a controlled manner along the vertical axis. All drives are hydraulic, which negatively impacts the overall energy efficiency of the system, which is particularly disadvantageous in an energy-autonomous system. Another disadvantage of this solution is the asymmetric weight distribution of the base unit, i.e., the robot's chassis, between the front and rear wheels, which can potentially affect the individual configurations with the intended work tools.

[0007] Apart from the examples mentioned above, there is no other modular solution in the field of agricultural technology on the market that uses an internal combustion engine as the basis of the drive system (purely electric solutions with a battery are in a completely different - lower - power category and are therefore not mentioned here).

[0008] None of the above-mentioned modular solutions uses a system of two side wall modules connected by a telescopic connecting module, which allows for flexible switching of the work module with the tool, combined with the function of flexible change of the track width and thus the working width of the robot, while simultaneously controlling the direction of all wheels within a range of well over 90°. These analogous solutions do not include the unique technology that ensures uniform pressure on all wheels and the technology of the work modules even on uneven surfaces through the hydraulic differential system of interlocking side wall modules, which allows the side wall modules to pivot. The essence of the technical solution

[0009] The aforementioned disadvantages are, to a certain extent, eliminated by a modular agrorobot for automatically performing field work according to the present technical solution, wherein this modular agrorobot comprises a left side wall module, a right side wall module, and a connecting module, wherein the connecting module connects the left side wall module and the right side wall module and comprises a hitch for attaching an interchangeable work module, wherein each side wall module is equipped with at least one wheel unit with a drive of the wheel unit, and at least one of the wheel units is rotatable about the vertical axis, wherein the connecting module is a telescopic mechanism comprising a central frame and at least one extendable component, wherein the extendable component is movably attached to the central frame at one end and attached to the side wall module at its other end,wherein the connecting module further comprises a drive of the telescopic mechanism of the connecting module for extending and retracting the extendable component, wherein the agrorobot further comprises a control system for controlling the drive of the telescopic mechanism and for controlling and rotating at least one wheel unit.

[0010] The connecting module comprises only one extendable component, preferably two extendable components, each of which is movably attached to the central frame, e.g. via a sliding guide or a rolling guide, whereby the extendable component is preferably retractable, e.g. into the interior of the central frame or into the space outside and along the central frame. The attachment of the extendable component to the side wall module is fixed or movable, e.g. by a pivoting connection, a joint, etc. The drive of the telescopic mechanism is, for example, hydraulically via a hydraulic cylinder of the extension for each extendable component. In an alternative design, the drive of the telescopic mechanism is electrically, e.g. using a conventional or telescopic linear motor or by a pinion and rack. The comb drive is suitable for long travel distances and high feed forces.The drive of the telescopic mechanism is pneumatic in its alternative design, but this method is not very advantageous for structures with large dimensions and high feed force, the pneumatic drive of the connecting module can also be quite complicated to assemble and costly to operate.

[0011] The control system preferably controls the extension and retraction of the extendable component as well as the rotation of only one wheel unit or several wheel units. The agrorobot can have only one extendable component, wherein the at least one side wall part comprises one wheel unit or, for example, two wheel units that can be rotated, for example, by approximately 90°, wherein the rolling direction of the wheel(s) corresponds to the extension or retraction direction of the connecting module. The agrorobot preferably comprises two extendable components (left and right), wherein at least one side wall part comprises at least one or two such wheel units. The agrorobot with two extendable components preferably comprises such rotatable wheel units on both side wall modules. The wheel unit and / or the wheel units can, however, also be rotated by an angle greater than 90°, e.g.It can be rotated up to 180°, which is advantageous for a range of possible movement modes of the agrorobot, or by an angle of less than 90°. However, the smaller rotation range is less beneficial for the speed of the extendable component's extension and for the range of motion and mobility of the entire agrorobot.

[0012] Each wheel unit preferably has its own individual drive for steering and / or rotating the wheel unit, i.e., for rotating and moving the wheel unit and / or for rotating the wheel unit about its vertical axis. For example, if a side wall module comprises two wheel units, the steering and / or rotation of these two wheel units can be controlled by separate drives or by a common drive for steering and / or rotation. The drive of the wheel unit is, for example, an electric motor, although the actual movement of the wheel unit itself can be driven by a conventional combustion engine mounted on the corresponding side wall module.

[0013] Furthermore, it is advantageous if the connecting module comprises a left-hand extendable component attached to the central frame and the left side wall module, and a right-hand extendable component attached to the central frame and the right side wall module. This arrangement makes it possible to increase / decrease the track width of the agrorobot symmetrically on both sides of the central frame and, in particular, to distribute the weight of the agrorobot evenly between the side wall modules, with the center of gravity preferably remaining in the middle of the entire agrorobot when the arrangement of the two side wall modules is symmetrical. The extendable components can be pushed inwards or outwards of the central frame or even into one another, i.e., the left-hand extendable component into the right-hand extendable component or vice versa.

[0014] Furthermore, it is advantageous if the extendable component can be inserted into the center frame. Retracting the extendable component into the center frame's interior space allows for optimal use of the interior space, while simultaneously protecting the extendable component from damage or contamination during retraction. Another advantage of accommodating the component in the center frame is that the center frame includes a mounting bracket for attaching the interchangeable work module, which can make accommodating the extendable component on the center frame's outer surface difficult.

[0015] Furthermore, it is advantageous if the control system is configured for symmetrical extension and retraction of the left extendable component and the right extendable component. The simultaneous extension of both extendable components is suitable for maintaining the center of gravity of the agrorobot between the side wall modules, wherein the control system is advantageously configured for coordinated control of the extension of the telescopic mechanism and the rotation of at least one wheel unit. Before and / or simultaneously with the extension of the extendable components, for example, the wheel unit of one (e.g., left) side wall section can be rotated by 90°, while the wheel unit of the other (in this case, right) side wall section remains aligned in the direction of movement of the agrorobot.Simultaneously with the extension of the extendable components, the wheel units on both side wall modules can be further rotated, whereby the fastest extension allows a rotation of these wheel units by up to 90°, i.e. perpendicular to the direction of the working movement of the agrorobot.

[0016] It is also advantageous if the left extendable component retracts into the right extendable component, or if the right extendable component retracts into the left extendable component. This arrangement allows for full utilization of the length of the center frame and the extendable components. This means that the length of the center frame and the extendable components can be almost the same, resulting in a 100% increase in the track width of the agricultural robot on each side (left and right) of the center frame.

[0017] Furthermore, it is advantageous if the drive of the telescopic mechanism is housed in the center frame. By locating the drive of the telescopic mechanism within the center frame, as in the case of the extendable component, these parts are protected from damage, and the center frame also protects these parts from dust or dirt from the surrounding terrain during fieldwork.

[0018] Furthermore, it is advantageous if the modular agrorobot comprises at least one sensor for detecting the movement of the wheel unit, wherein the sensor is coupled to the control system and the control system is configured to control the telescopic mechanism according to the movement of the wheel unit detected by the sensor, wherein such a sensor of the wheel unit which detects its movement (ie the rolling of the wheel) is an encoder which is preferably arranged in the traction drive of the wheel of the wheel unit.

[0019] Furthermore, it is advantageous if each side wall module includes two wheel units. Two wheel units on each side wall module increase the stability of the agro-robot and its movement efficiency. The rotation of the wheel units on each side wall module can be controlled synchronously or individually, with each wheel unit having its own drive.

[0020] Furthermore, it is advantageous if all wheel units are rotatable around the vertical axis. The individual rotation and drive of each wheel unit allows for maximum flexibility in the movement of the agrorobot and the coordinated extension of the telescopic mechanism of the connection module.

[0021] Furthermore, it is advantageous if at least one of the wheel units can be rotated by at least 90° relative to the starting position. The starting position is the orientation of the wheel unit that enables the wheel unit to move in the forward or reverse direction of the agricultural robot when the wheel axis is ideally aligned parallel to the axis of the connection module. Rotating the wheel unit by 90° relative to the starting position thus enables the maximum possible speed for extending the extendable component and changing the track width of the agricultural robot, since the wheel axis in this position is ideally perpendicular to the axis of the connection module. Preferably, all wheel units can be rotated by at least 90° relative to the starting position, although the rotation range can also be greater, e.g. up to 180°.

[0022] The above-mentioned disadvantages are largely eliminated by a method for extending the connecting module of the modular agricultural robot, wherein the extending comprises the steps of rotating the wheel units of at least one side wall module into a position in which the axes of the wheels form an angle of between 1° and 180° with the axis of the connecting module, and a subsequent step of starting the drive of the telescopic mechanism of the connecting module. Thus, the wheel unit of at least one (e.g., left) side wall module can be rotated, for example, perpendicular to the direction of travel of the agricultural robot. If multiple wheel units are used on this side wall module, all of these wheel units are rotated synchronously in the specified direction. A signal is then sent from the controller to start the drive of the telescopic mechanism and thus to extend or retract the extendable component.The wheel units on the second (in this case, the right) side wall module can remain in their initial position without rotation. The wheel axis refers to the axis of the wheel shaft around which the wheel rotates during travel. In the initial position (forward / backward movement of the agrorobot), the wheel axis is essentially parallel to the axis of the connecting module.

[0023] The wheel units can also be rotated on both side wall modules before extending the telescopic mechanism, especially if the connecting module comprises a left and a right extendable component. All of these wheel units can be rotated by the same angle to the axis of the connecting module, e.g., even by 90°, which enables the telescopic mechanism to be extended as quickly as possible. The wheel units can also be rotated at a different angle, acute or obtuse, to the axis of the connecting module, allowing the extension speed to be controlled. The wheel units of the left side wall module can also be rotated by a different angle than the wheel units of the right side wall module, thereby achieving asymmetrical extension on the left and right sides of the connecting module.After the telescopic component has been extended to its end position, the rotation of the wheel unit or wheel units can be returned to its original position by a signal from the control system before the telescopic mechanism is extended.

[0024] Furthermore, it is advantageous if, in the first step, the wheel units of the at least one side wall module are rotated such that the wheel axes form an angle of between 88° and 92° with the axis of the connecting module. This rotation range of the wheel unit(s) when extending or retracting the extendable component enables the highest possible speed for changing the track width while simultaneously providing a low tolerance for any possible deflection of the rotation in the preferred direction.

[0025] Furthermore, it is advantageous if the method for extending the connecting module comprises a third step in which the drive of the wheel units of the at least one side wall module is started simultaneously with the second step. Starting the drive of these wheel units during extension or retraction directly leads to the rotation of the wheel unit or units, i.e., to the movement of the wheel, which promotes a speed of changing the track width of the agrorobot that would otherwise only be driven by the power of the drive of the telescopic mechanism driving the extendable component, which would have to overcome the drive of the telescopic mechanism alone.

[0026] Furthermore, it is advantageous if the extension speed of the telescopic mechanism of the connecting module is controlled by the control system, whereby the speed of movement of the wheel units is controlled by the control system depending on the extension speed of the telescopic mechanism of the connecting module. This method has the advantage that the drive of the telescopic mechanism and the drive of the wheel units are coordinated and involved in each other, whereby the travel speed and / or the rotation speed of the wheel units can be adapted to the extension / retraction speed of the extendable component. The result is a smooth transition of the agrorobot between different track widths without excessive dynamic stress on the individual components.

[0027] Furthermore, it is advantageous if the drive for all wheel units is started in the third step. After the wheel unit(s) have rotated and the telescopic mechanism has started extending, the drive for all wheel units on the left and right side wall modules is also started, i.e., the drive for all wheel units forward. When the telescopic mechanism is retracted, the drive for all wheel units is started in reverse.

[0028] The modular agrorobot for automatically performing field work may therefore consist of a left side wall module and a right side wall module equipped with wheel units. The side wall modules are mutually connected by a connecting module, in whose front pivoting brackets the hydraulic cylinders for the articulation are mounted. The right front wheel unit and the right rear wheel unit are mounted in the frame of the right side wall module, and the left front wheel unit and the left rear wheel unit are mounted in the frame of the left side wall module. The wheel units are provided with a rotation drive arranged on the respective frame of the side wall module. The agrorobot is further provided with a control system equipped with components for controlling and rotating the wheel units, as well as with components for autonomous navigation and teleoperation.wherein the left side wall module and the right side wall module are mechanically and energetically coupled to a connecting module, the support element of which is the central frame, in which the left extendable component and the right extendable component are slidably mounted, wherein hydraulic cylinders of the extension are mounted in the interior of the central frame, the left extendable component, and the right extendable component, wherein an exchangeable work module is attached to the central frame by means of a pivotally mounted attachment, wherein the connecting module is pivotally connected to the left side wall module and to the right side wall module by means of loose pins that are firmly connected to the left side wall module and to the right side wall module, and furthermore, it is pivotally mounted in the hubs on the legs of the left extendable component and the right extendable component of the connecting module, wherein the legs comprise the brackets of the legs,in which the hydraulic cylinders of the articulation are mounted, which are simultaneously pivotably mounted in the brackets of the side walls, which are a component of the left side wall module and the right side wall module, with the angle sensors connected to the covers being fastened in the loose pins, with the hydraulic cylinders of the articulation being connected to the flexible hydraulic lines, which merge into fixed hydraulic lines on the central frame, whereby they are mutually connected in a closed circuit, with energy chains on both sides connecting to the fixed hydraulic lines and to the electrical wiring stored in the cable duct of the frame, the opposite ends of which are connected to the left extendable component and the right extendable component, whereby the energy chains carry the electrical wiring and flexible hydraulic lines,which connect from the left extendable component to the left side wall module and from the right extendable component to the right side wall module.

[0029] Furthermore, it is advantageous if the hitch consists of a four-bar mechanism, wherein the mowing crank rod of the four-bar mechanism consists of a T-piece with a pivoting end on both sides, which is pivotally connected to the central frame by means of a plate forming the lower crank, and an adjusting tie rod forming the upper crank, wherein the T-piece is provided with safety suspension hooks and, with the upper hook, forms three points of attachment of the working module, wherein the plate is pivotally mounted in the central frame by means of pivoting brackets comprising the pivot pins and hydraulic cylinders of the hitch, wherein one of the pivot pins is equipped with the angle sensor, which is fastened to the central frame, wherein above the hitch area on the central frame, hydraulic quick-release couplings are arranged, which connect to the fixed hydraulic lines, and an electrical connector, which connects to the electrical wiring,wherein power lines of the work module are connected to the hydraulic quick couplings and to the electrical connector, wherein the pneumatic lines of the work module are arranged above the connection module and are connected to the left side wall module and the right side wall module.

[0030] Furthermore, it is advantageous if the hydraulic cylinders of the extension arranged in the interior of the central frame, the left-hand extendable component and the right-hand extendable component are equipped with linear sensors, wherein the bodies of the hydraulic cylinders of the extension are fastened by a joint in bodies which are firmly connected to the extendable components, and the piston rods are mounted by a joint in holders of the piston rods which are firmly connected to the central frame, wherein the central frame is provided at its edges and in its central part with slides for guiding the extendable components, wherein the right-hand extendable component is provided at its inner end with slides, wherein the slides are arranged in frames.

[0031] Furthermore, it is advantageous if the sliding bearings of the right and left extendable components overlap in the center frame.

[0032] Furthermore, it is advantageous if the plate is arranged in the axis of the central frame.

[0033] Furthermore, it is advantageous if the central frame is provided with a scraper strip at both ends.

[0034] It is also advantageous if removable washers are installed between the gliders and the frame.

[0035] The above-mentioned disadvantages are largely eliminated by the method of controlling the operation of the modular agrorobot based on the use of the agrorobot device in the working mode, the essence of which is that before starting the operation of the agrorobot, the initial position of rotation of the wheel units in the forward / backward direction or in the direction of the working bodies of the working modules is set by sending an impulse from the control system.

[0036] The above-mentioned disadvantages are further eliminated by the method of controlling the operation of the modular agrorobot based on the use of the agrorobot device in the transport mode, the essence of which is that before the start of the operation of the agrorobot, the initial position of rotation of the wheel units is set by an impulse of the control system so that all four wheel units are rotated symmetrically by 90° compared to the initial position.

[0037] The above-mentioned disadvantages are further eliminated by the method of controlling the operation of the modular agrorobot based on the use of the agrorobot device in the rotation mode, the essence of which consists in setting the rotation of the left front wheel unit and the left rear wheel unit of the left side wall module and the right front wheel unit and the right rear wheel unit of the right side wall module in the desired sense of the direction of rotation of the agrorobot at a point around the central vertical axis by an impulse of the control system, wherein the rotation angles of the individual wheel units rotating in the vertical pivot are determined both by the rotation drive and the actual width of the connecting module while maintaining the Ackermann principle.

[0038] The above-mentioned disadvantages are further eliminated by the method of controlling the operation of the modular agrorobot based on the use of the agrorobot device in the linear mode, the essence of which is that the rotational position of each wheel unit is adjusted by the same angle by an impulse of the control system.

[0039] Furthermore, it is advantageous if the angle is 90°.

[0040] The above-mentioned disadvantages are further eliminated by the method of controlling the operation of the modular agrorobot based on the use of the agrorobot device in the arc mode, the essence of which is that the impulse of the control system sets the rotation of the right rear wheel unit and the left rear wheel unit symmetrically at the same and opposite angle as the right front wheel unit and the left front wheel unit, the angles of rotation of the individual wheel units rotating in the vertical pivot being determined both by the drive of the rotation and by the actual width of the connecting module, while maintaining the Ackermann principle. Advantages of the solution: • The modular concept of the machine enables it to be used in a wide variety of work processes. • The machine is equipped with a telescopic connecting module with a hitch for the work module, whereby the telescopic connecting module with hydraulic drive of the telescopic mechanism allows easy change of the track width and thus the use of work tools (modules) of different widths, which brings the advantage of flexible interchangeability of work modules depending on current needs and the possibility of optimal use of the robot's power when using all types of work modules. • The agricultural robot's link module is pivotally attached to both sides of the tractor using a side wall interlocking mechanism. The pivoting link, combined with the central position of the link module, allows the sides to intersect (+ / - 10°), ensuring good contact of all four wheels with the ground. The interlocking mechanism, consisting of a pair of appropriately actuated hydraulic cylinders, ensures that the link module is always positioned at the center of the entire side wall deflection, ensuring the optimal position of the working tool relative to the soil surface. • Variability of operating modes (work mode, transport mode, track width change) and modes (curved travel mode, linear travel mode, rotation, and tow bar operation). The system allows for equal rotation of all wheels, known as crab walking (sideways movement). All four of the robot's wheels are steerable and can be rotated by more than 90°, enabling not only sideways movement (normal work mode) but also lengthwise movement (transport mode). • Easy handling of the robot (e.g. loading onto a transport vehicle, entering the service hall, etc.). • The device has autonomous navigation and is equipped with a teleoperation system in case of interruption of autonomous operation • A wider range of applications for the agrorobot’s sub-mechanisms than just agriculture (thanks to the modular design) Explanation of drawings

[0041] The attached sheets show the pictures and the legend. Fig. 1 axonometric overall view of the modular agrorobot Fig. 2 Axonometric view from above of the connection module of the modular agrorobot in the retracted starting position Fig. 3 Detailed axonometric view of the bearing of the pivot pin of the adjustable hitch of the working module Fig. 4 Section through the bearing of the pivot pin, where the connection with the hub of the plate of the hitch is visible Fig. 5 rectangular projection of a horizontal section through the connecting module, through the bearing of the synchronizing hydraulic cylinders of the extension of the left extendable component and the right extendable component, including the symmetrically arranged energy chains Fig. 6 rectangular projection of a vertical section through a loose tenon, which is slidably mounted in the hub of the leg Fig. 7 axonometric view of the wheel unit with drives Fig. 8 Axonometric view of the sliders of the guide surfaces of the extractable components from the central frame of the connecting module - illustration of the external attachment of the slider frame to the relevant part Fig. 9 axonometric view of the central frame of the connection module with power lines Fig. 10 Axonometric general view of the modular agrorobot with the system of rotation of wheel units for robot operation in different modes and operating modes Example of the technical solution

[0042] The modular agrorobot 1 is a device for autonomous and teleoperated field work.

[0043] Its main modules are the left side wall module 2 and the right side wall module 3 with the wheel units 4, the connection module 5 and the work module 6.

[0044] The left side wall module 2 and the right side wall module 3 are separate units that are mechanically and energetically linked by the connecting module 5, whose base and support element is the center frame 7, in which the left extendable component 8 and the right extendable component 9 are arranged. A linkage 12 of the work module 6, consisting of a four-bar linkage mechanism, is pivotally mounted on the center frame 7.

[0045] The lower crank of the mechanism consists of a plate 13 which is pivotally arranged in plan view on the axis of the central frame 7, the mowing crank rod of the mechanism consists of a T-piece 14 with a pivotable end on both sides, and the upper crank consists of an adjusting pull rod 15 which is pivotally arranged between the central frame 7 and the T-piece 14 and comprises two safety suspension hooks 16 and an upper hook 17, wherein the hydraulic cylinders 18 of the hitch are pivotally arranged between the central frame 7 and the plate 13.

[0046] One of the pivotable supports of the plate 13 comprises a pivot pin 19 which is connected in shape to the plate 13 and in shape to an angle sensor 20 which is attached to the central frame 7 via a flexible element 21.

[0047] Inside the center frame 7, the left extendable component 8, and the right extendable component 9, two hydraulic cylinders 22 of the extension with linear sensors 23 are arranged opposite one another, so that a piston rod holder 24 is firmly connected to the center frame 7, to which the piston rods of the two hydraulic cylinders 22 of the extension are attached by means of a joint. The piston rod holder 24 passes through different recesses in the side walls of the left extendable component 8 and the right extendable component 9 and, in both cases, originates from the centers of these components and is aligned with their end sections. The bodies of the hydraulic cylinders 22 of the extension and the piston rods are attached opposite one another by means of a joint in the bodies 25, which are firmly connected to the left extendable component 8 and the right extendable component 9.

[0048] The sliding bearings of the right-hand extendable component 9 and the left-hand extendable component 8 are arranged such that they overlap in the central frame 7, with the right-hand extendable component 9 having sliders 26 in its end section, being arranged within the left-hand extendable component 8, and the sliders 26 of the end section of the right-hand extendable component 9 touching the inner walls of the left-hand extendable component 8. The front part of the right-hand extendable component 9 is guided by sliders 26 attached to the right edge of the central frame 7. The central frame 7 is provided with a wiper strip 27 at both ends, each of which corresponds in size to the respective counterpart of the left-hand extendable component 8 and the right-hand extendable component 9.

[0049] The left extendable component 8 is without sliders 26 and moves exclusively in the sliders 26 accommodated in the central frame 7 between the right extendable component 9 and the central frame 7. The thickness of the sliders 26 arranged in the frames 28 can be varied by means of the washers 29, whereby the frames 28 are rigidly connected to the corresponding parts of the central frame 7 and the right extendable component 9.

[0050] Both the left extendable component 8 and the right extendable component 9 have legs 30 in their end sections, each ending in a hub 31 with a cover 32. The loose pins 33 are pivotally mounted in the hubs 31 and are firmly inserted into the frames of the left side wall module 2 and the right side wall module 3. The legs 30 further comprise the brackets 34 of the legs of the hydraulic cylinders 35 of the interlocking system, which are directed forward, opposite to the direction of movement of the agrorobot 1. On the other side, the hydraulic cylinders 35 are pivotally mounted in the brackets 36 of the side walls, which are also part of the left side wall module 2 and the right side wall module 3. The angle sensors 20 are fastened in the loose pins 33 by means of flexible elements 21 and connected to the covers 32.

[0051] The center frame 7 of the connecting module 5 is equipped with a cable duct 37 with electrical wiring 40. Furthermore, it is equipped with fixed hydraulic lines 38, to which the energy chains 39 on both sides are connected, the opposite ends of which are connected to the left extendable component 8 and the right extendable component 9. The energy chains 39 carry the electrical wiring 40 and the flexible hydraulic lines 41, which connect from the left extendable component 8 to the left side wall module 2 and from the right extendable component 9 to the right side wall module 3. Furthermore, hydraulic quick-couplings 42, which connect to the flexible hydraulic lines 41, and an electrical connector 43, which connects to the electrical wiring 40, are attached to the center frame 7. The power lines of the work module 6 are connected to the hydraulic quick-couplings 42 and the electrical connector 43.The pneumatic lines 44 of the working module 6 are also located above the connection module 5.

[0052] The agrorobot 1 is equipped with four wheel units that rotate on a vertical pivot. The left front wheel unit 4c and the left rear wheel unit 4d are mounted in the frame of the left side wall module 2, and the right front wheel unit 4a and the right rear wheel unit 4b are mounted in the frame of the right side wall module 3.

[0053] Each wheel unit is individually equipped with a rotation drive 11, which is arranged on the respective frame of the side wall module 2, 3. The rotation drive 11 is provided with a sensor for the position of the rotation drive, which is preferably designed as an encoder. This sensor is linked to the control unit and transmits information about the current rotation of the wheel of the wheel unit 4. Advantageously, the wheel unit 4 is also provided with a reference sensor that determines a reference position for the rotation of the wheel of the wheel unit 4, which is, for example, a position in which the axis of the wheel of the wheel unit 4 is parallel to the axis of the connection module 5.

[0054] The agricultural robot 1 is further equipped with a control system 10 comprising elements for controlling and rotating the wheel units 4 rotatable in a vertical pivot as well as elements for autonomous navigation and teleoperation located in one of the side wall modules 2, 3.

[0055] The agrorobot 1 is equipped with a wireless controller 45 and elements that enable autonomous operation and teleoperation. Sensors 46 for measuring image depth and cameras 47 are mounted in the upper part of the housing of the left side wall module 2 and the right side wall module 3. The cameras 47 are attached via brackets 48 to the center frame 7 above the work module 6. The upper part of the housing of the left side wall module 2 and the right side wall module 3 also houses the antennas 49 of the navigation system and the antennas 50 of the high-speed mobile network, the antenna 51 of the controller, and the antenna 52 for remote access. A sensor 53 of the inertial measurement unit is mounted on the center frame 7.

[0056] The signal lighting 54 and the safety emergency stop buttons 55 are located at the outer corners in the lower area of ​​the housing of the left side wall module 2 and the right side wall module 3. Additional emergency stop buttons 55 are located in the working area of ​​the agrorobot 1 and on the wireless controller 45. The operating lighting 56 is located in the upper area of ​​the housing of the left side wall module 2 and the right side wall module 3. function

[0057] The agrorobot 1 is a modular robot designed for autonomous and teleoperative fieldwork via interchangeable work modules 6. For autonomous navigation, the agrorobot 1 is equipped with antennas 49 of the navigation system, sensors 46 for measuring image depth, and sensors 53 of the inertial measurement unit. In the event of a brief interruption of autonomous operation, the agrorobot 1 is equipped with a teleoperation system, whereby the connection to the teleoperator is established via antennas 50 of the high-speed mobile radio network. The image of the robot's surroundings is provided by cameras 47 located in the upper part of the left side wall module 2 and the right side wall module 3. The view into the interior of the agrorobot 1 of the work module 6 is provided by cameras 47 located on consoles 48.In limited visibility conditions, the teleoperator is assisted in operating the machine by activating the operating light 56 ​​mounted on the robot to illuminate the surroundings as well as the interior with the work module 6. The individual operating states of the agrorobot 1 are signaled by the signal light 54. For manual operation, the agrorobot 1 is equipped with a wireless controller 45 and a controller antenna 51, as well as a remote access antenna 52, which enables remote control of the machine.

[0058] For emergency shutdown of the agrorobot 1, there are the emergency stop buttons 55, which are located on the housing of the left side wall module 2, the right side wall module 3 and on the wireless controller 45.

[0059] The Agrorobot 1 can operate in three modes: WORK, TRANSPORT, and TRACK WIDTH CHANGE. In these modes, the robot can move in the following motion modes: ARC, LINEAR, ROTATION, and TRAILING. The WORK mode is intended for autonomous and remote field work, but also for manual operation. The Agrorobot 1 is not intended for operation on roads and is transported on a towed trailer in TRANSPORT mode.

[0060] Operation in the above-mentioned modes and operating modes is enabled by the mechanism of the wheel units 4, which rotate around the vertical pivot, and the associated control elements. The position / rotation of the wheel units 4 at the desired angle according to the selected mode is achieved by impulses from the control system 10.

[0061] The agrorobot 1 is equipped with a connection module 5 that allows the robot's track width to be changed depending on the type of work module 6 used. The extension hydraulic cylinders 22 extend or retract the left extendable component 8 and the right extendable component 9 by means of the bodies 25 with an articulated bearing relative to the central frame 7 with the piston rod support 24, wherein the moving left extendable component 8 is guided by the sliders 26 mounted on the left edge and in the center of the central frame 7, and the moving right extendable component 9 is guided by the sliders 26 mounted on the right edge of the central frame 7 and at its inner end, which are in contact with the inner surfaces of the left extendable component 8.Since the support 24 of the piston rods connects the hydraulic cylinders 22 of the extension, which is located in the middle part of the connecting module 5 with the outer middle frame 7, different lateral recesses are provided in the left side wall module 2 and in the right side wall module 3, which are each arranged from the middle to the end part.

[0062] To protect the guide surfaces of the left extendable component 8, the right extendable component 9 and the sliders 26, the central frame 7 has a wiper strip 27 at each of its two end sections, each of which corresponds dimensionally to the respective counterpart of the left extendable component 8 and the right extendable component 9.

[0063] The track width change occurs in the CHANGE OF TRACK WIDTH mode and under the condition that all wheel units 4 of the left side wall module 2 or all wheel units 4 of the right side wall module 3 are rotated by 90° so that the rolling direction of the wheels is identical to the direction of extension or retraction of the connecting module 5. The stroke of the two hydraulic cylinders 22 of the extension is identical. The synchronization of the movement of the left extendable component 8 and the right extendable component 9 relative to the center frame 7 is achieved by the hydraulic cylinders 22 of the extension, based on the feedback from the linear sensors 23 housed in the hydraulic cylinders 22 of the extension. The play in the linear guides of the connecting module 5 is minimized during assembly by a suitable configuration of the washers 29, which are held together by the frames 28 with the sliders 26.

[0064] The electrical wiring 40 and the flexible hydraulic lines 41 energetically connect the left side wall module 2, the right side wall module 3, the hydraulic cylinders 22 of the extension, the hydraulic cylinders 18 of the hitch and the work module 6, whereby the flexible hydraulic lines 41 on the center frame 7 pass through the cable duct 37 into fixed hydraulic lines 38 and the electrical wiring 40, whereby the energy chains 39, in which the flexible hydraulic lines 41 and the electrical wiring 40 are housed, enable the positioning of the connection module 5 over its entire working range.

[0065] The track width change mode can also be operated in a modified variant, in which all wheel units 4 of the left side wall module 2 or all wheel units 4 of the right side wall module 3 are rotated by the same angle in the range of 1-180°, e.g. by an angle of 45°, whereby each axis of the wheel unit 4 forms an angle of 45° with the axis of the connecting module 5. In this case, the hydraulic cylinders 22, which provide the force in the axis of the connecting module 5, are started simultaneously with the drive (rolling) of the wheels, preferably all wheels, at least all wheels of the wheel units of the side wall module, whose wheel units 4 are rotated at an angle other than that at which the axis of the wheel of the wheel unit 4 forms an angle of 0° with the axis of the connecting module 5.When the connecting module 5 is extended, the wheels rotate in one direction, and when the connecting module 5 is retracted, they rotate in the opposite direction. This operating mode can then be advantageously used by rotating the wheels of the wheel units 4 of the right-hand side wall module 3 by the same angle as the wheels of the wheel units 4 of the left-hand side wall module 2, with the angles running in opposite directions. For example, the wheels of the wheel units are rotated so that their axles are at an angle of 30° to the axis of the connecting module 5. In this case, the drive (rolling) of all wheels is started simultaneously with the starting of the hydraulic cylinders 22, which ensure the force application in the axis of the connecting module 5. When the connecting module 5 is extended, the wheels rotate in one direction, and when the connecting module 5 is retracted, they rotate in the opposite direction.

[0066] The connection, exchange, carrying, and working range of the work modules 6 on the agrorobot 1 are ensured by a hitch 12 formed by a four-bar linkage. The mowing crank of the four-bar linkage consists of a T-piece 14 with securing suspension hooks 16 and an upper hook 17, which form three attachment points of the work module 6. The T-piece 14 is pivotally connected to the central frame 7 by means of a plate 13 and an adjusting tie rod 15, the nominal length of which is equal to the length of the plate 13 and the adjusting tie rod 15. The plate 13 is further connected to the central frame 7 by hydraulic cylinders 18 of the hitch, which allow the positioning of the hitch 12 across the entire required operating range.Feedback on the current position of the hitch 12 is provided to the robot's control system 10 via an angle sensor 20 located on one of the two pivot pins 19 and attached to the central frame 7 via a flexible element 21. The adjusting tie rod 15 allows its length to be changed and thus the geometry of the hitch 12, including its kinematics, to be adjusted. In addition to positioning the hitch 12, the hydraulic cylinders 18 of the hitch allow the desired pressure to be exerted on the work module 6. The work module 6 is connected to the power grid of the agrorobot 1 via hydraulic quick couplings 42 and an electrical connector 43 attached to the central frame 7 above the space of the hitch 12.Depending on the type of work module 6, pneumatic lines 44 are used to supply seed or granulated fertilizer from the left side wall module 2 and from the right side wall module 3 to the work module 6.

[0067] The agricultural robot 1 is in contact with the ground surface with its four wheels 4 and, depending on the activity to be performed, also with the work module 6. To ensure contact of all wheel units 4 of the agricultural robot 1 with the ground surface, the connecting module 5 is pivotally connected to the left side wall module 2 and the right side wall module 3 via loose pins 33, which are rigidly connected to the left side wall module 2 and the right side wall module 3 and which are further pivotally mounted in the hubs 31 on the legs 30 of the left extendable component 18 and the right extendable component 9 of the connecting module 5. The pivoting range of the connecting module 5 in relation to the left side wall module 2 and the right side wall module 3 is limited by the hydraulic cylinders 35 of the articulation, which are mounted in the bracket 34 of the leg and in the bracket 36 of the side walls between the left side wall module 2 and the left extendable component 8 or.the right side wall module 3 and the right extendable component 9, wherein both hydraulic cylinders 35 of the interlocking system are connected to the flexible hydraulic lines 41, which merge into the fixed hydraulic lines 38 on the central frame 7 when connected to each other in a closed circuit. The identical orientation of the hydraulic cylinders 35 of the interlocking system, opposite to the direction of movement of the agrorobot 1, advantageously ensures the connection of the corresponding lower and upper chambers of the hydraulic cylinders 35 of the interlocking system in this arrangement, thereby pressurizing equal volumes of hydraulic oil.The connection of the hydraulic cylinders 35 of the articulation means that when driving over uneven terrain, all wheels of the wheel units 4 of the agrorobot 1 come into contact with the uneven ground surface and, at the same time, the position of the connecting module 5 with the attachment 12 and the working module 6 is always in the middle of the entire deflection of the rotation of the left side wall module 2 relative to the right side wall module 3, whereby the angle of rotation of the left side wall module 2 relative to the left extendable component 8 and the angle of rotation of the right side wall module 3 relative to the right extendable component 9 are monitored by angle sensors 20 which are connected to the covers 32 and, via the flexible element 21, to the loose pins 33.

[0068] The measured values ​​of the angle sensors 20 are evaluated by the control system 10 of the agricultural robot 1. If the measured values ​​of the two angle sensors 20 deviate, the position of the connecting module 5 relative to the left side wall module 2 and the right side wall module 3 can be recalibrated to the initial position using the hydraulic cylinders 35 of the interlocking system.

[0069] The movement modes—ARC, LINEAR, and ROTATION—are intended for driving the agrorobot 1. The HITCH OPERATION movement mode is intended for positioning the hitch 12 when coupling and uncoupling the work module 6.

[0070] The ARC movement mode allows the wheels of all four wheel units of the agrorobot 1 to rotate so that the respective rear wheels are always rotated at the same, but opposite, angle to the front wheels. The pivot point of the agrorobot 1 is therefore always on the central transverse axis. Operation of the modular agrorobot 1 in arc mode is triggered by an impulse from the control system 10, which symmetrically sets the rotation of the right rear wheel unit 4b and the left rear wheel unit 4d to the same and opposite angle as the right front wheel unit 4a and the left front wheel unit 4c.

[0071] The ROTATION movement mode allows the Agrorobot 1 to rotate at a point around its central vertical axis.

[0072] In ROTATION mode, the left front wheel unit 4c and the left rear wheel unit 4d of the left side wall module 2 as well as the right front wheel unit 4a and the right rear wheel unit 4b of the right side wall module 3 are rotated so that the agrorobot 1 can rotate around the vertical central axis at one point.

[0073] The operation of the modular agrorobot 1 in rotation mode is triggered by an impulse of the control system 10, with which the rotation of the left front wheel unit 4c and the left rear wheel unit 4d of the left side wall module 2 and the right front wheel unit 4a and the right rear wheel unit 4b of the right side wall module 3 is set in the desired sense of the direction of rotation of the agrorobot at a point around the central vertical axis.

[0074] In the ARC and ROTATION movement modes, the rotation angles of the individual wheel units are determined by the rotation drive 11 and the actual width of the connecting module 5, maintaining the principle of Ackerman geometry.

[0075] The LINEAR motion mode allows the agrorobot 1 to move in a diagonal direction, as all wheels of the wheel units 4 are rotated by the same angle, including 90°, in the same direction. Operation of the modular agrorobot 1 in linear mode is triggered by an impulse from the control system 10, which sets the rotation of each wheel unit 4a, 4b, 4c, 4d to the same angle.

[0076] The LINEAR travel mode is required, for example, to keep the working bodies of the work module 6 in the middle of the worked row when driving along a contour line.

[0077] The transport mode is achieved by rotating all four wheel units 4a, 4b, 4c, 4d symmetrically by 90° relative to the starting position - thus, in the initial rotational position of the wheel units 4, they are rotated by 90° relative to the operating mode.

[0078] In working mode, the wheel units 4 are rotated in the forward / reverse direction, i.e. in the direction of the working bodies of the working modules 6.

[0079] The transfer of the agrorobot 1 into transport and working mode is triggered by an impulse from the control system 10.

[0080] The following section describes alternative designs of selected elements of the agrorobot 1 according to this technical solution.

[0081] In the second exemplary embodiment, the drive of the left-hand extendable component 8 and the right-hand extendable component 9 is designed as an electric drive, using a pinion and racks (with direct toothing), whereby this drive and both extendable components are housed in the interior of the central frame 7, as in the first exemplary embodiment. Each extendable component is therefore provided with a rack, in the toothing of which a motor-driven pinion is installed, whereby the motor that drives the pinion is connected to the control system 10. Both racks are controlled by a common pinion, whereby in the non-extended position of the extendable components, both racks are parallel and aligned with each other with the toothing, whereby the pinion is located midway between the toothings of both racks.By rotating the pinion, the extendable components are moved simultaneously and synchronized away from the pinion, i.e. out of the center frame.

[0082] In another embodiment, each extendable component or each rack of the extendable component can be driven by its own pinion, i.e., the drive of the telescopic mechanism of the connecting module 5 comprises two racks, each driven by its own pinion and motor. This arrangement allows selective extension of only the left extendable component 8 or the right extendable component 9, or the extension of each extendable component at different speeds.

[0083] The advantage of using the rack is the high rigidity and the possibility of rapid extension and retraction even with long extendable components, without the need to install pumps, lines and valves, which must be installed in the connection module 5 with a hydraulic drive.

[0084] In the third exemplary embodiment, the technical solution is implemented identically to the first exemplary embodiment, but the drive for extending the connecting module 5, i.e., the extension of the left extendable component 8 and the right extendable component 9, is carried out by means of a movement screw and a nut. In this embodiment, two movement screws rotatably attached to the central frame 7 are used, wherein these movement screws are rotatably driven by the drive of the movement screws. The solution further comprises two nuts, wherein one of the nuts is rigidly connected to the right extendable component 9 and is mounted on one of the movement screws, and the other nut is rigidly connected to the left extendable component 8 and is mounted on the other of the movement screws. Industrial applicability

[0085] The modular agricultural robot solution for autonomous and teleoperable field work, with the ability to operatively change track widths and flexibly change work modules with tools, is particularly applicable in agriculture, where it can be used for a variety of work tasks. However, some technical solutions and technology nodes are applicable in a wide variety of industries that utilize transport technologies. List of reference symbols 1 agrorobot 2 Left side wall module 3 Right side wall module 4 wheel unit 4a right front wheel unit 4b right rear wheel unit 4c left front wheel unit 4d left rear wheel unit 5 Connection module 6 Work module 7 center frame 8 Left extendable component 9 Right pull-out component 10 Control system 11 Drive of rotation 12 Attachment 13 plate 14 T-piece 15 Adjusting rod 16 hanging hooks 17 Upper hook 18 hydraulic cylinders of the hitch 19 pivot pins 20 angle sensor 21 Flexible element 22 Hydraulic cylinders of the extension 23 Linear sensor 24 Piston rod holder 25 bodies 26 gliders 27 Scraper bar 28 frames 29 Washer 30 legs 31 Hub 32 lids 33 Loose tenon 34 Leg support 35 hydraulic cylinders of the interlocking 36 Side wall brackets 37 cable duct 38 Fixed hydraulic lines 39 Energy chain 40 Electrical wiring 41 Flexible hydraulic lines 42 hydraulic quick coupling 43 Electrical connector 44 pneumatic lines 45 Wireless Controller 46 Sensor for measuring image depth 47 Camera 48 Console 49 Navigation system antenna 50 antennas of the high-speed mobile network 51 Controller antenna 52 Remote access antenna 53 Sensor of the inertial measuring unit 54 Signal lighting 55 Emergency stop button 56 Operational lighting QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This 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

[0000] WO 2020 / 108713

[0002] US 20200060058

[0005] US 11427120

[0005]

Claims

[1] Modular agrorobot (1) for automatically carrying out field work, comprising a left side wall module (2), a right side wall module (3) and a connecting module (5), wherein the connecting module (5) connects the left side wall module (2) and the right side wall module (3) and comprises an attachment (12) for attaching an interchangeable work module (6), wherein each side wall module is equipped with at least one wheel unit (4) with a drive of the wheel unit (4) and at least one of the wheel units (4) is rotatable about the vertical axis, characterized byin that the connecting module (5) is a telescopic mechanism comprising a central frame (7) and at least one extendable component, the extendable component being movably attached to the central frame (7) at one end thereof and being attached to the side wall module at its other end, the connecting module (5) further comprising a drive of the telescopic mechanism of the connecting module (5) for extending and retracting the extendable component, the agrorobot (1) further comprising a control system (10) for controlling the drive of the telescopic mechanism and for controlling and rotating at least one wheel unit (4). [2] Modular agrorobot (1) according to claim 1, characterized bythat the connecting module comprises a left-hand extendable component (8) which is fastened to the central frame (7) and to the left-hand side wall module (2), and further comprises a right-hand extendable component (9) which is fastened to the central frame (7) and to the right-hand side wall module (3). [3] Modular agrorobot (1) according to one of the preceding claims, characterized by that the extendable component can be retracted into the central frame (7). [4] Modular agrorobot (1) according to one of claims 2 to 3, characterized by that the control system (10) is configured for symmetrical extension and retraction of the left extendable component (8) and the right extendable component (9). [5] Modular agrorobot (1) according to one of claims 2 to 4, characterized by that the left extendable component (8) is retractable into the right extendable component (9) or that the right extendable component (9) is retractable into the left extendable component (8). [6] Modular agrorobot (1) according to one of the preceding claims, characterized by that the drive of the telescopic mechanism is arranged in the central frame (7). [7] Modular agricultural robot (1) according to one of the preceding claims, characterized by that it further comprises at least one sensor for detecting the movement of the wheel unit (4), wherein the sensor is connected to the control system (10) and the control system (10) is configured to control the telescopic mechanism in dependence on the movement of the wheel unit (4) detected by the sensor. [8] Modular agrorobot (1) according to one of the preceding claims, characterized by that each side wall module comprises two wheel units (4). [9] Modular agrorobot (1) according to one of the preceding claims, characterized by that all wheel units (4) can rotate around the vertical axis. [10] Modular agrorobot (1) according to one of the preceding claims, characterized by that at least one of the wheel units (4) can be rotated by at least 90° relative to the starting position.

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