Agricultural robotic gantry system for multi-span greenhouses

Description

technical field

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

[0002] US patent 9,622,398 describes a robotic gantry comprising a walkway that is moved by propulsion means along a plurality of crop rows, several agricultural implements coupled to the walkway, a power supply system for the propulsion means, a controller that oversees the operation of the propulsion means and the agricultural implements, and the controller that activates 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, and a movable carriage moving transversely and designed as an equipment carrier (for sowing or planting seeds or for weeding). The equipment carrier has a movable support in the vertical direction. An automatic, computer-controlled system manages the movement of the bridge and carriage, as well as the activation of the planting or sowing equipment and the weeding equipment.

[0004] Patent application JP H11 299364 A describes an apparatus for transferring a plant culture container within a greenhouse bay and between greenhouse bays.

[0005] Several drawbacks arise from such robotic gantries, particularly regarding their operation and the performance of market gardening tasks in a multi-span greenhouse. Firstly, some prior art systems require each span to have its own robotic gantry, making the system particularly expensive. Secondly, some prior art systems require that part of the robotic gantry be removed from the guidance system, which is usually fixed in one span, and installed in another. This is particularly cumbersome to implement and generally requires manual operation involving one or more market gardeners.

[0006] There is therefore a need to offer a robotic gantry system that makes carrying out market gardening tasks in a multi-span greenhouse easier to implement, for example by reducing or even avoiding the aforementioned disadvantages. Summary of the invention

[0007] The object of the invention is to propose a robotic gantry system for vegetable farms that overcomes one or more of the disadvantages or limitations of existing robotic gantry techniques.

[0008] According to the invention, a robotic agricultural gantry system is proposed comprising a first trolley capable of moving along longitudinal rails in a longitudinal direction, the first trolley supporting and guiding laterally in a transverse direction a second trolley equipped with a tool holder to implement a tool relative to a growing area in a greenhouse comprising several adjacent chapels, each chapel supporting two substantially horizontal and opposite longitudinal rails, said chapels and said longitudinal rails extending in a longitudinal direction.The agricultural robotic gantry system further includes an inter-chapel switching mechanism positioned in an inter-chapel transfer zone extending between the chapels in the transverse direction. The inter-chapel switching mechanism is arranged such that the first carriage is operable either in a working configuration in which the first carriage is movable within a defined chapel in the longitudinal direction, or in a switching configuration in which the first carriage is translatable from said defined chapel to a destination chapel in the transverse direction. The inter-chapel switching mechanism comprises: substantially horizontal inter-chapel transverse rails, opposite 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.

[0009] The two longitudinal rails are discontinuous at the inter-chapel transfer zone, forming two interrupted sections defined on either side of the inter-chapel transfer zone. The inter-chapel switch carriage may comprise two opposing longitudinal switch carriage rail sections, each positioned within its associated interrupted section.

[0010] The longitudinal rails, which are substantially horizontal and opposite each other, can be fixed to each of the two vertical uprights of the arches of each chapel at a defined height. The transverse rails between chapels can be fixed above the longitudinal rails at a determined height in such a way as to allow the first trolley to move along the longitudinal rails.

[0011] The inter-chapel switch trolley may include a motorized switch trolley assembly capable of moving the inter-chapel switch trolley on the inter-chapel transverse rails.

[0012] The motorized switch trolley assembly may include, on each side of the inter-chapel switch trolley along the transverse axis, two roller connecting plates to couple the inter-chapel switch trolley to the inter-chapel transverse rails and guide it during movement along the transverse direction.

[0013] Each cross rail between the chapels may have a profile extending horizontally and defining a cavity with an opening positioned in a wall at the bottom and along its entire length, the opening having a width less than the width of the profile in order to provide in the wall at the bottom at least one shoulder serving as a bearing surface for the rollers of each of the roller connecting plates, said roller connecting plates having 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 in such a way that the inter-chapel switch carriage is supported and guided during a movement in the transverse direction.

[0014] The motorized switch trolley assembly may include at least one servomotor and switch reducer unit coupled to pinions in a distal position by associated shafts, each of the inter-chapel transverse rails being fitted with a transverse rail rack, said pinions being arranged to mesh with the corresponding transverse rail rack.

[0015] The motorized switch trolley assembly may include two servomotor and gearbox units, one on one side supported by the longitudinal switch trolley rail section, the other on the other side supported by the opposite longitudinal switch trolley rail section, the two switch servomotor and gearbox units being synchronized.

[0016] Longitudinal rails, longitudinal switch wagon rail sections, and / or inter-chapel transverse rails may be made 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 brush supported by a power supply and communication unit of the first wagon, the second wagon and / or the inter-chapel switch wagon.

[0017] At least one longitudinal switch carriage rail section may include a retractable stop mechanism comprising a stop plate fixed to said rail by a pivot pin and a spring, and a jack equipped with a finger which cooperates with a lower projecting part of the plate to block or allow the movement of the first carriage from the longitudinal switch carriage rail sections to the longitudinal rails.

[0018] At least one longitudinal switch carriage rail section may include a retractable stop and centering mechanism comprising a stop plate fixed to said rail by a pivot pin and a spring, and a jack equipped with a finger which cooperates, on the one hand, with a lower projecting part of the plate to block or allow the movement of the first carriage of the longitudinal switch carriage rail sections towards the longitudinal rails, and, on the other hand, passing through a slide linked to the longitudinal switch carriage rail section and a centering housing linked to the longitudinal rail section to align the longitudinal switch carriage rails and the longitudinal rails.

[0019] The retractable stop mechanism, or the combined retractable stop and centering mechanism, may include an impact stop fixed to the longitudinal switch carriage rail section by a second axis of rotation and by said finger, the impact stop cooperating with an impact damper fixed on the first carriage.

[0020] At least one section of longitudinal switch carriage rail may include a translation alignment mechanism comprising a horizontal axis received in a sliding piece, said axis and said sliding piece being coupled together by means of two lateral horizontal springs in order to make said longitudinal switch carriage 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.

[0021] In another aspect, a method for operating a robotic agricultural gantry system in a greenhouse comprising several adjacent sections is proposed, including the following steps: direct a first trolley from a robotic gantry to an inter-chapel transfer zone in a defined chapel, the first trolley being movable in a longitudinal direction; couple the first trolley to an inter-chapel switching trolley in the inter-chapel transfer zone; direct the inter-chapel switching trolley transporting 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; stop the inter-chapel switching trolley in the destination chapel and uncouple the first trolley from the inter-chapel switching trolley; and move the first trolley into the destination chapel to perform the planned market gardening task(s).

[0022] The invention is particularly applicable to robotic gantries that perform various interventions in the growing area to improve the execution of market gardening tasks in a multi-span greenhouse. The robotic gantry system according to the invention also has the following advantages: It does not include wheels or tracks moving directly on the ground, nor any ground rail installation, thus effectively managing soil compaction issues and freeing up ground space for traffic and other uses; The system does not require complex infrastructure; The system is structurally lightweight, compact, and easy to install, making it particularly suitable for market garden greenhouses, whether the greenhouse has one or more sections, or the farm may have several greenhouses; The system allows for automated switching between sections, and optionally between greenhouses, resulting in increased productivity; The system automates the most time-consuming, arduous, and repetitive market gardening tasks, allowing market gardeners to focus on higher value-added activities.

[0023] Other advantages will become apparent from the following description of the invention. Brief description of the drawings

[0024] The present invention is illustrated by examples and not limited to the accompanying drawings, in which similar references indicate similar features: ● The Figure [ Fig.1 ] is a perspective view schematically representing a micro-market garden farm with a greenhouse comprising several sections; ● Figure [ Fig. 2 ] is a schematic, top-view, semi-transparent illustration of a greenhouse comprising several chapels, equipped with a robotic gantry according to an embodiment of the invention; ● Figure [ Fig.3 ] is a front view of a chapel depicted in the [ Fig. 2 ] schematically illustrating the robotic gantry system according to one embodiment of the invention; ● Figure [ Fig. 4] is a schematic multiple view illustrating the transfer of the robotic gantry trolley according to an embodiment of the invention from one chapel to another, in a multi-chapel greenhouse; ● Figures [ Fig. 5 ] And [ Fig. 6 ] are schematic views, respectively in top and side perspective, of the robotic gantry located in an inter-chapel transfer zone according to an embodiment of the invention; ● Figure [ Fig. 7 ] is a schematic and partial perspective top view showing part of the inter-chapel switching carriage, without the robotic gantry carriage, according to an embodiment of the invention; ● Figure [ Fig. 8 ] is a schematic front view of part of the inter-chapel switching trolley and robotic gantry located in the inter-chapel transfer zone showing a detail of Figure [ Fig. 6 ] ; ● The Figure [ Fig. 9] is a schematic side view of part of the inter-chapel switching trolley and robotic gantry located in the inter-chapel transfer area showing a detail of Figure [ Fig. 6 ] according to AA; ● Figure [ Fig. 10 ] is a schematic side view of part of the inter-chapel switch wagon showing a detail of Figure [ Fig. 9 ] in which the robotic gantry trolley has been omitted for clarity; ● Figures [ Fig. 11 ] And [ Fig. 12 ] are schematic cross-sectional, side, and front views respectively illustrating rails with integrated power and data tracks of the robotic gantry according to an embodiment of the invention; ● Figures [ Fig. 13 ] And [ Fig. 14] are schematic side and top perspective views, respectively, of a retractable stop mechanism of the robotic gantry located in an inter-chapel transfer zone according to an embodiment of the invention; ● The Figures [ Fig. 15 ] And [ Fig. 16 ] are schematic views, respectively, in side perspective and partial cross-section, of a combined retractable stop and robotic gantry centering mechanism located in an inter-chapel transfer zone according to an embodiment of the invention; and ● Figure [ Fig. 17 ] is a schematic front view in partial section illustrating a translation alignment mechanism of the robotic gantry located in an inter-chapel transfer zone according to an embodiment of the invention. Detailed description

[0025] The invention will be understood from the following description, in which reference is made to the attached drawings. Robotic gantry in the greenhouse:

[0026] The Figure [ Fig.1 [ ] schematically shows a micro-market garden farm MF from a perspective view. The micro-market garden farm MF includes, for example, at least one greenhouse 1 comprising several sections, for example, four adjacent sections 1A, 1B, 1C and 1D.

[0027] The Figure [ Fig. 2 ] schematically shows a greenhouse 1 comprising four adjacent chapels 1A, 1B, 1C and 1D in a semi-transparent top perspective view. Figure [ Fig.3 ] is a front view of a first chapel 1A represented at the [ Fig. 2] schematically showing the robotic gantry system 10. The first chapel 1A is made up of a series of arches 3 aligned along a longitudinal direction X, each arch being appropriately anchored in the ground 2. A cultivation area, i.e., rows of vegetable crops RM, extends over the ground 2 under the first chapel 1A along the longitudinal direction X in a cultivation zone 7. Also, a tool storage area 6 is provided on the ground 2 under the first chapel 1A. Although Figure [ Fig. 2] 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 equipped with a robotic gantry system 10. Substantially horizontal longitudinal rails 4A and 4B opposite each other are fixed to each of the two vertical uprights of the arches 3 at a suitable defined height. The longitudinal rails 4A and 4B extend along the longitudinal direction X. A first carriage 11 can move along the longitudinal rails 4A, 4B along the longitudinal direction X. The movement along the longitudinal direction X is achieved by a motorized assembly 13A powered and controlled by a first electrical box 14A.The first carriage 11 (two parallel rails extending along the transverse direction Y, coupled by a reinforcing structure and connected to the longitudinal rails 4A and 4B via two roller assemblies on their respective sides) provides support and lateral guidance for a second carriage 12 along the transverse direction Y. The second carriage 12 is equipped with a tool holder 20 for deploying a tool 30 relative to the cultivated area, for example, rows of market garden crops (RM). The cultivation tool 30 can be a passive (i.e., essentially mechanical) agricultural tool or an active one (i.e., potentially including a motor and / or actuators and / or sensors).By way of non-limiting examples, the tool 30 can be a leveling tool, a roller, a rake, a rotary tiller, a seed drill, a weeding tool (harrow or disc harrow), a seed drill, a subsoiler, a spreader, a plowshare, a planter, a weed control device, etc. The second carriage 12 also includes a column 15 for moving the tool 30 along the vertical Z direction. Movements along the transverse Y and vertical Z directions are ensured by a second motorized unit 13B, powered and controlled by a second electrical box 14B. Stops 5 can 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 trolleys 11, 12, the tool carrier 20, the column 15, the choice of the tool 30 adapted to the agricultural intervention envisaged and the actuation of the tool 30. More specifically, the computer system 50 includes a computer 51 equipped with a memory 52 in which is stored a 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 tablet or multifunction mobile / smartphone 54. The computer system 50 can also receive various data (weather, temperature, air humidity, soil moisture, wind, sunshine, soil condition, plant condition, etc.) from sensors 8 placed 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 further detail here as these elements are not part of the subject matter of the present invention and are described in detail in patent application FR2112079.

[0028] The other chapels 1B, 1C and 1D can be designed similarly to the first chapel 1A. Other greenhouses analogous to the first greenhouse 1 can also be part of the MF market garden micro-farm. Inter-chapel transfer zone:

[0029] An inter-chapel transfer zone 60 is provided between the different chapels, i.e., between the four adjacent chapels 1A, 1B, 1C, and 1D. The inter-chapel transfer zone 60 includes an inter-chapel switching mechanism 61 allowing the carriage 11 of the robotic gantry 10 to either continue its journey along the longitudinal direction X or to be translated to leave the chapel in which it is located and go to another chapel or greenhouse along the transverse direction Y. In the embodiment shown in Figure [ Fig. 2 The inter-chapel transfer zone 60 is unique and extends along the transverse direction Y from the first chapel 1A, to the second chapel 1B, then the third chapel 1C, and terminates in the fourth chapel 1D. The inter-chapel transfer zone 60 can be positioned at any location along the longitudinal direction X, at either end, in the middle, etc. Figure [ Fig. 2 ] shows an inter-chapel transfer zone 60 substantially centered in greenhouse 1.

[0030] Inter-chapel transverse rails 70A and 70B, substantially horizontal and opposite each other, are fixed to the vertical uprights of the arches 3. The inter-chapel transverse rails 70A and 70B are fixed at a height such as not to impede the movement of the first trolley 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 Figure [ Fig. 2 ], the inter-chapel transverse rails 70A and 70B extend in one continuous 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 along the transverse direction Y.

[0031] The inter-chapel transfer zone 60 interfaces with the longitudinal rails 4A, 4B extending along the longitudinal direction X. It is therefore positioned at a height and does not interfere with the growing area, i.e. with the rows of vegetable crops RM extending on the ground 2.

[0032] 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 boundary of the inter-chapel transfer zone 60, forming an interrupted section.

[0033] Although not shown, the inter-chapel transfer zone 60, while extending along the transverse direction Y, can be provided in different sections between two adjacent chapels, for example, midway between the first 1A and the second 1B chapel, at one end between the second 1B and the third 1C chapel, and at the other end between the third 1C and the fourth 1D chapel. According to this embodiment, the inter-chapel transverse rails 70A and 70B are made as independent sections extending between two directly adjacent chapels, i.e., 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.In addition, although not shown, the inter-chapel transfer zone 60 can also extend from greenhouse 1 to another greenhouse arranged in an adjacent manner.

[0034] An inter-chapel switch trolley 62 is designed to move within the inter-chapel transfer zone 60. The trolley moves from one chapel to another via the inter-chapel transverse rails 70A and 70B. The inter-chapel switch trolley 62 comprises two opposing longitudinal switch trolley rail sections 63A, 63B which are positioned within the interrupted section (visible, for example, in Figure [ Fig. 5 ]). A motorized assembly of the switch trolley 64 ensures the movement of the inter-chapel switch trolley 62 on the inter-chapel transverse rails 70A and 70B. Inter-chapel transfer system operation:

[0035] The Figure [ Fig. 4] is a schematic multiple view that illustrates the transfer of the trolley 11 from 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.

[0036] During a first step S1, the first trolley 11 of the robotic gantry 10 is directed towards the inter-chapel transfer zone 60 in the first chapel 1A. The first trolley 11 moves along the longitudinal axis X.

[0037] During a second step S2, once the inter-chapel transfer zone 60 has been reached, the first trolley 11 of the robotic gantry 10 is coupled to the inter-chapel switching trolley 62. The first trolley 11 of the robotic gantry 10 can be locked in place on the inter-chapel switching trolley 62.

[0038] During a third step S3, the inter-chapel switching trolley 62 carrying the first trolley 11 of the robotic gantry 10 is directed towards the destination chapel, in this example the third chapel 1C. The inter-chapel switching trolley 62 moves along the transverse axis Y along the inter-chapel transverse rails 70A and 70B.

[0039] During a fourth step S4, the inter-chapel switch trolley 62 reaches the third destination chapel 1C. It is appropriately locked in position so that the two opposing longitudinal switch trolley rail sections 63A, 63B are positioned within the interrupted section to form continuous longitudinal rails 4A, 4B in this chapel. At the end of this transfer operation, the first trolley 11 of the robotic gantry 10 is decoupled from the inter-chapel switch trolley 62.

[0040] During a fifth step S5, the first trolley 11 of the robotic gantry 10 can be moved into the third chapel 1C to perform the planned market gardening task(s). 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 sections of longitudinal switching trolley rails 63A, 63B and to allow the first trolley 11 of the robotic gantry 10 to move throughout this chapel. Inter-chapel switching trolley:

[0041] The Figure [ Fig. 5 Figure ] is a schematic top perspective view of an example of a robotic gantry, in which the first trolley 11 and the second trolley 12 are located in the inter-chapel transfer zone 60. Only part of a single chapel is shown in this figure, and the longitudinal rails 4A and 4B are not shown for clarity. Figure [ Fig. 6Figure ] is a schematic side view of the robotic gantry located in the inter-chapel transfer zone 60, which particularly illustrates how the first trolley 11 and the second trolley 12 interface with the inter-chapel switching trolley 62, and also the motorized assembly 64 of the inter-chapel switching trolley 62. Figure [ Fig. 7 Figure ] is a schematic and partial perspective top view showing part of the inter-chapel switching trolley 62, without the trolleys 11, 12 of the robotic gantry for clarity. Figure [ Fig. 8 ] is a schematic front view of part of the inter-chapel switching trolley 62 and the robotic gantry 11 located in the inter-chapel transfer zone 60 showing a detail of Figure [ Fig. 6 The Figure [ Fig. 9] is a schematic side view of part of the inter-chapel switching trolley 62 and the robotic gantry 10 located in the inter-chapel transfer zone 60 showing a detail of Figure [ Fig. 6 ] according to section AA. Figure [ Fig. 10 ] is a schematic side view of part of the inter-chapel switch wagon 62 showing a detail of Figure [ Fig. 9 ] in which the robotic gantry trolley 11 has been omitted for clarity.

[0042] The inter-span switching trolley 62 comprises a motorized switching trolley assembly 64 coupled to a switching trolley electrical control box 65A. According to the embodiment shown, the motorized switching trolley assembly 64 may include, on each side of the inter-span switching trolley 62 along the transverse direction Y, two roller connecting plates 69A and 69B respectively, allowing the inter-span switching trolley 62 to be coupled to the inter-span transverse rails 70A and 70B respectively and guided in its movement along the transverse direction Y. Figure [ Fig. 8[ ] shows a cross-section of an inter-chapel transverse rail 70A which has a profile extending horizontally and defining a cavity with an opening positioned in a wall at the bottom and along substantially the entire length of the inter-chapel transverse rail 70A, the opening having a width smaller than the width of the profile in order to provide at least one shoulder in the wall at the bottom, for example two shoulders 72A, 72B on either side of the opening. The two shoulders serve as bearing surfaces 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 switch trolley 62 is supported and guided during a movement along the transverse direction Y.The motorized switch carriage assembly 64 may include a switch servomotor and gearbox unit 66A coupled to respective pinions 67A and 67B by associated shafts 68A and 68B. The servomotor and gearbox unit 66A may be positioned and supported substantially in the middle of one of the two longitudinal switch carriage rail sections 63A and 63B. The shafts 68A and 68B may extend on either side of the servomotor and gearbox unit 66A, substantially horizontally and parallel to the rail section 63A, and terminate distally with the pinions 67A and 67B. Each of the inter-span transverse rails 70A and 70B may be fitted with a transverse rail rack 71A and 71B, respectively. The sprockets 67A, respectively 67B are positioned and intended to mesh with the corresponding transverse rail rack 71A, respectively 71B.In the example embodiment presented, more specifically, the motorized assembly of the switch trolley 64 can include two servomotor and gearbox 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 opposite longitudinal switch trolley rail section 63B (visible in the Figures [. Fig.3 ] And [ Fig. 5 Unit 66B will not be described in further detail as it is identical in its coupling to the racks and its operation. The two servomotor and switch reducer units 66A and 66B are advantageously synchronized in their operation and allow for smooth and consistent translation of the inter-span switch carriage 62 during the inter-span transfer along the transverse direction Y. Rails with integrated tracks:

[0043] The Figures [ Fig. 11 ] And [ Fig. 12[ ] are schematic cross-sectional views, respectively side and front, illustrating rails with an integrated and internal power supply and data communication unit 80 for the robotic gantry according to an embodiment of the invention. The integrated and internal power supply and data communication unit 80 is entirely optional; it provides efficient and reliable power and data exchange. However, these functions could also be achieved by providing each carriage with its own battery power supply and / or wireless data transmission using any suitable technology.The integrated and internal power supply and data communication assembly 80 can be applied to any of the rails described above, namely the longitudinal guide rails along the longitudinal axis X 4A, 4B, the longitudinal switch carriage rail sections 63A, 63B, and / or the inter-span transverse rails 70A, 70B. Each of these rails can be a horizontally extending profile defining a cavity with an opening positioned at the bottom and along the entire length of each rail. The opening has a width smaller than the width of the profile to provide at least one shoulder, for example, two shoulders on either side of the opening. Each shoulder can serve as a bearing surface for one or more rollers of roller coupling plates.The rollers are arranged to cooperate with the profile, that is, to move on the shoulder bearing surfaces and thus support and guide the various carriages (first carriage 11, second carriage 12 of the robotic gantry 10, and inter-span switching carriage 62) during their movements along the longitudinal X or transverse Y direction. The power supply and data communication assembly 80 includes at least one conductive track 81A, 81B. The profile may include at least one power supply track for the carriage motors 81A. The profile may also include at least one data track 81B for transmitting data and commands between the computer system 50 and the carriages 11, 12, 62. The number of conductive tracks 81A, 81B may be increased to ensure redundancy.Each conductive track 81A, 81B can be made in the form of a conductive track received in a plastic guide. The rails described previously 4A, 4B, 63A, 63B, 70A, 70B are powered independently of each other. The carriages described previously 11, 12, 62 are fitted with carbon brushes 82 supported by a power supply and communication unit 83, for example supported by a roller connecting plate, located in the cavity of the profile, and rubbing against the conductive tracks 81A, 81B.

[0044] 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 carriage 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.

[0045] In addition, 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 a smooth passage of the inter-chapel transfer zone 60 when moving into a chapel the first trolley 11 of the robotic gantry 10 to carry out market gardening tasks (the inter-chapel switch trolley 62 being locked in place in the chapel where the market gardening tasks are carried out). Retractable stop mechanism:

[0046] The Figures [ Fig. 13 ] And [ Fig. 14Figures ] are schematic side and top perspective views, respectively, of a retractable stop mechanism 90 for the first trolley 11 of the robotic gantry 10. The retractable stop mechanism 90 is entirely optional; however, it helps reduce the risk of incorrect operation during transfers. In these figures, the first trolley 11 is about to approach the junction between the longitudinal rails 4A, 4B and the longitudinal switch trolley rail sections 63A, 63B, and arrive in the inter-span transfer zone 60. The retractable stop mechanism 90 is activated during inter-span transfer operations according to one embodiment of the invention. Figures [ Fig. 13 ] And [ Fig. 14 ] only show a single retractable stop mechanism 90, in a deactivated state, for clarity.

[0047] The retractable stop mechanism 90 is activated only when the first trolley 11 is in the inter-chapel transfer zone and during the transfer of the first trolley 11 from one chapel to another. It provides a safety function by preventing any movement of the first trolley 11 out of the inter-chapel transfer zone 60 from the beginning to the end of the inter-chapel transfer operation. Alternatively, it can also be configured to prevent the trolley 11 from entering the transfer zone if the inter-chapel switch trolley 62 is not present there. The retractable stop mechanism 90 has at least two retractable stops positioned appropriately 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.

[0048] Each retractable stop comprises a stop plate 91, a spring 92, and a cylinder 93. The stop plate 91 is fixed to the rail (for example, to one of the longitudinal rail sections of the switch carriage 63A, 63B) by a pivot pin and by the spring 92 at the top of the stop plate 91. The cylinder 93 has a finger 95 which cooperates with a lower projecting part 94 of the stop plate 91 to activate or deactivate the retractable stop 90. Under the action of the finger of the cylinder 93, the lower projecting part 94 of the stop plate 91 is pushed back, the spring 92 is energized, the retractable stop 90 is not activated, and the stop plate 91 allows the passage of the first carriage 11. When the cylinder 93 is deactivated, the lower projecting part 94 of the stop plate 91 is retracted. projection 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.

[0049] During the transfer phase between two chapels, the finger 95 of the cylinder 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.

[0050] The retractable stop mechanism 90 is advantageously interfaced with the computer system 50 which controls its operation in coordination with the transfer of the trolley between different chapels during an inter-chapel transfer operation.

[0051] The Figures [ Fig. 15 ] And [ Fig. 16 ] are schematic side perspective and partial sectional side views of a combined retractable stop and centering mechanism 90A, respectively. This mechanism differs from that of Figures [ Fig. 13 ] And [ Fig. 14in that it also includes a centering device that works with the retractable stop to ensure better alignment, specifically to correct any alignment problems. Such alignment problems can have various causes, such as expansion and contraction, the difficulty of achieving perfect alignment in large greenhouse structures with a large number of sections, etc. The centering device ensures that the inter-section switching carriage is correctly positioned in the inter-section transfer zone 60, which greatly reduces the risk of blockage during transfer.

[0052] 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 carriage rail sections 63A, 63B) by a pivot pin 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 passing through the slide 96 linked to a longitudinal switch carriage rail section 63A, 63B. The centering housing 97 is through-hole so that the end of the finger 95 can pass through it completely to activate the lower protruding part 94.Under the action of the finger 95 of the cylinder 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, the longitudinal rails 4A, 4B and the longitudinal switch trolley rails 63A, 63B being perfectly aligned by means of the finger 95 guided in the slide 96 and entering the centering recess 97. When the cylinder 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 trolley 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 cylinder 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 trolley 11, the end of the finger 95 being outside the centering housing 97, it no longer blocks the relative movement between the longitudinal rails 4A, 4B and the longitudinal switch trolley rails 63A, 63B.

[0053] 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 trolley between different chapels during an inter-chapel transfer operation.

[0054] Optionally, the retractable stop mechanism 90, or the combined retractable stop and centering mechanism 90A, may also include 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 pivot pin and by the finger 95. The impact stop 98 is designed to cooperate with an impact damper 99 fixed to the first trolley 11. The impact stop 98 and the impact damper 99 cushion the impact of the trolley 11 when it is moved laterally during the transfer phase between two switch boxes and when it reaches a final transfer position in the destination switch box.

[0055] Optionally, at least one positioning sensor 8A can be provided to confirm the position of the first trolley 11 in the inter-chapel transfer zone 60 and its 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, or the combined retractable stop and centering mechanism 90A, in coordination with the trolley transfer between different chapels during an inter-chapel transfer operation.

[0056] The Figure [ Fig. 17 ] is a schematic front view in partial section illustrating a translational alignment mechanism 100. This translational alignment mechanism 100 can in particular cooperate with the combined retractable stop and centering mechanism 90A of Figures [ Fig. 15] to [Fig. 16The translational alignment mechanism 100 comprises a horizontal shaft 101 received in a sliding piece 102, said shaft 101 and said sliding piece 102 being coupled together by means of two lateral horizontal springs 103A, 103B. In this way, at least one longitudinal switch trolley rail 63A and / or 63B that accommodates the first trolley is free-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 during the transfer of the first trolley between two switch bays.Indeed, the translation alignment mechanism 100 offers an additional degree of freedom allowing the said longitudinal switch trolley rail 63A and / or 63B to float in horizontal translation 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.

[0057] 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 sections, it is also suitable for use between several greenhouses (inter-greenhouse transfer), whether single-section or multi-section. It can also be used outside a greenhouse, provided that the area to be cultivated is equipped with posts supporting rails allowing the robotic gantry to move. The term "greenhouse" is therefore to be understood in its broadest sense, namely, a growing area under a growing structure. Furthermore, several electrical boxes have been shown to differentiate the control and power supply of various components, but these could just as easily be combined in a single electrical box.Neither the power supply and data communication unit nor the various retractable stop mechanisms as presented and described are essential to the operation of the inter-span switching carriage and therefore to the inter-span transfer, which can be operated independently of these devices. The power supply and data communication unit and the various retractable stop mechanisms are merely means of improving the efficiency and safety of the inter-span transfer. In particular, the integrated tracks of the power supply and data communication unit can be replaced by cables, and the retractable stop mechanism can be omitted. Furthermore, data communication can also be achieved by any type of wireless communication means, for example, by Wi-Fi (Wireless Fidelity, in accordance with the IEEE 802.11 standard).

Claims

1. An agricultural robotic gantry system (10) for a greenhouse (1) comprising several adjacent chapels (1A, 1B, 1C, 1D) comprising : - a first carriage (11) movable along longitudinal rails (4A, 4B) in a longitudinal direction (X), the first carriage (11) supporting and laterally guiding in a transverse direction (Y) a second carriage (12) provided with a tool carrier (20) for implementing a tool (30) relative to a cultivation surface (RM), each chapel supporting two longitudinal rails (4A, 4B) substantially horizontal and facing each other, 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 in 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 towards a destination chapel in the transverse direction (Y) ; the system is further characterized in that the inter-chapel switching mechanism (61) comprises : - inter-chapel transverse rails (70A, 70B) substantially horizontal, facing each other and extending in the transverse direction (Y) between at least said defined chapel and said destination chapel ; and - an inter-chapel switching carriage (62) arranged to couple to the first carriage (11) and translatable in the inter-chapel transfer zone (60) via 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 switching carriage (62) comprises two sections of longitudinal switching carriage rails (63A, 63B) facing each other, each positioned in the associated interrupted section.

2. The system of claim 1, wherein : - the longitudinal rails (4A, 4B) substantially horizontal and facing 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 carriage (11) on the longitudinal rails (4A, 4B).

3. The system of claim 1 or 2, wherein the inter-chapel switching carriage (62) comprises a switching carriage motorized assembly (64) capable of moving the inter-chapel switching carriage (62) on the inter-chapel transverse rails (70A, 70B).

4. The system of claim 3, wherein the switching carriage motorized assembly (64) comprises, on each side of the inter-chapel switching carriage (62) along the transverse axis (Y), two roller connection plates (69A, 69B) for coupling the inter-chapel switching carriage (62) to the inter-chapel transverse rails (70A, 70B) and guiding it during movement in the transverse direction (Y).

5. The system of claim 4, wherein each inter-chapel transverse rail (70A, 70 B) has a profile extending horizontally and defining a cavity having an opening positioned in a wall in a 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 (72A, 72B) serving as a bearing surface for the rollers of each of the roller connection plates (69A, 69B), said roller connection plates (69A, 69B) comprising a set of internal rollers (73) moving on the bearing surface of the shoulder in the cavity of the profile and a set of external rollers (74) moving on the bearing surface of the shoulder externally below the profile so that the inter-chapel switching carriage (62) is supported and guided during a movement in the transverse direction (Y).

6. The system according to anyone of claims 3 to 5, wherein the switching carriage motorized assembly (64) comprises at least one servomotor and switching reducer unit (66A) coupled to pinions (67A, 67B) in the 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).

7. The system of claim 6, wherein the switching carriage motorized assembly (64) comprises two servomotor and reducer units, one (66A) on one side supported by the longitudinal switching carriage rail section (63A), the other (66B) on the other side supported by the facing longitudinal switching carriage rail section (63B), the two servomotor and switching reducer units (66A, 66B) being synchronized.

8. The system according to anyone of claims 1 to 7, wherein each of the longitudinal rails (4A, 4B), longitudinal switching carriage 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 carriage (11), the second carriage (12) and / or the inter-chapel switching carriage (62).

9. The system according to anyone of claims 1 to 8, wherein at least one longitudinal switching carriage rail section (63A, 63B) comprises a retractable stop mechanism (90) comprising a stop plate (91) fixed to said rail by a rotation axis and by a spring (92), and a jack (93) provided with a finger (95) which cooperates with a lower projecting part (94) of the plate (91) to block or authorize the movement of the first carriage (11) from the longitudinal switching carriage rail sections (63A, 63B) to the longitudinal rails (4A, 4B).

10. The system according to anyone of claims 1 to 8, wherein at least one longitudinal switching carriage rail section (63A, 63B) comprises a retractable stop and centering mechanism (90A) comprising a stop plate (91) fixed to said rail by a rotation axis and by a spring (92), and a jack (93) provided with a finger (95) which cooperates, on the one hand, with a lower projecting part (94) of the plate (91) for blocking or authorizing the movement of the first carriage (11) from the longitudinal switching carriage rail sections (63A, 63B) towards the longitudinal rails (4A, 4B), and, on the other hand, crossing a slide (96) linked to the longitudinal switching carriage rail section (63A, 63B) and a centering housing (97) linked to the longitudinal rail section (4A, 4B) for aligning the longitudinal switching carriage rail sections (63A, 63B) and the longitudinal rails (4A, 4B).

11. The system of 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 switching carriage rail section (63A, 63B) by a second rotation axis and by said finger (95), the impact stop (98) cooperating with an impact damper (99) fixed on the first carriage (11).

12. The system of claim 10, wherein at least one longitudinal switching carriage rail section (63A; 63B) comprises a translation alignment mechanism (100) comprising a horizontal axis (101) received in a slide part (102), said axis (101) and said slide part (102) being coupled together via two lateral horizontal springs (103A, 103B) in order to make said longitudinal switching carriage rail (63A; 63B) floating 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).

13. A method of operating an agricultural robotic gantry system (10) according to anyone of claims 1 to 12, in a greenhouse (1) comprising several adjacent chapels (1A, 1B, 1C, 1D) comprising the steps : - steering a first carriage (11) of a robotic gantry (10) towards an inter-chapel transfer zone (60) in a defined chapel, the first carriage (11) being movable in a longitudinal direction (X) ; - coupling the first carriage (11) to an inter-chapel switching carriage (62) in the inter-chapel transfer zone (60) ; - steering the inter-chapel switching carriage (62) transporting the first carriage (11) from the defined chapel towards a destination chapel, the inter-chapel switching carriage (62) being translatable in the transverse direction (Y) along inter-chapel transverse rails (70A, 70B) ; - stopping the inter-chapel switching carriage (62) in the destination chapel and decoupling the first carriage (11) from the inter-chapel switching carriage (62) ; and - moving the first carriage (11) into the destination chapel to carry out the planned market gardening task(s).