Autonomous agricultural machine including a hydrogen-powered main drive system

Abstract

The present invention relates to an autonomous agricultural machine (1) comprising a frame (2), wheels (3), the frame (2) having a width, two sides on either side of a longitudinal axis (X) of the autonomous agricultural machine (1), and a top, at least one tool that can be received in a usable volume (20) defined by the width and the top of the frame (2), the autonomous agricultural machine (1) further comprising a hydrogen propulsion system including at least one hydrogen fuel cell (100). The autonomous agricultural machine according to the invention further comprises at least one hydrogen tank (11, 12) disposed longitudinally on the top of the frame (2), the hydrogen fuel cell (100) being configured to consume hydrogen from at least one hydrogen tank (11, 12) and oxygen captured from the air so as to supply electrical energy to an electric motor of the hydrogen propulsion system. Figure from the summary: Figure 2

Description

Title of the invention: Autonomous agricultural machine comprising a hydrogen-powered main drive system technical field

[0001] The present invention relates to the field of agricultural machinery, in particular autonomous agricultural robots. More specifically, the present invention relates to an autonomous agricultural machine comprising a main hydrogen-powered drive system. PRIOR TECHNOLOGY

[0002] In the field of agricultural machinery, autonomous vehicles have been developed. These autonomous agricultural machines, also known as agricultural robots, are adapted to operate on crops in open fields, for example in vineyards, in a totally or partially autonomous manner.

[0003] These autonomous agricultural machines do not carry a driver. For example, such autonomous agricultural machines may carry one or more tools for tilling the soil, maintaining the soil, or maintaining vines, for example, one or more tools for pruning vines, or one or more tanks containing active ingredients to be applied to crops, for example, vines. Such autonomous agricultural machines, being less bulky than agricultural machines with a driver, if only because they do not include a cab or systems designed to protect or improve the driver's comfort (air conditioning, cab air filter, etc.), are particularly well-suited for working in narrow vineyard plots.

[0004] Currently, autonomous agricultural machinery features electric motorization systems powered by high-voltage batteries or by internal combustion engines.

[0005] For example, document IN 202141057703 A describes a remotely operated agricultural machine adapted for crop spraying. The objective here is to protect the farmer from the potential toxicity of the sprayed active ingredients. To this end, the farmer dismounts and remotely operates the agricultural machine. The remotely operated agricultural machine described in document IN 202141057703 A comprises an electric drive system based on the use of lithium-ion batteries located on top of the machine, on either side of an active ingredient tank.

[0006] The present invention relates to an autonomous agricultural machine having a hydrogen-powered propulsion system. Hydrogen propulsion systems include at least one electric motor powered by energy, in particular electrical energy, by at least one hydrogen fuel cell whose function is to produce electrical energy from hydrogen and oxygen, the hydrogen being stored in tanks also referred to as cylinders and the oxygen being conventionally drawn from the surrounding outside air. It should be noted that, in the context of the present invention, "hydrogen" is commonly understood to mean the chemical compound with the molecular formula H2, also referred to as dihydrogen, particularly in its gaseous form; similarly, "oxygen" is understood to mean the chemical compound with the molecular formula O2, also referred to as dioxygen, particularly in its gaseous form, present in the outside air.

[0007] As is known, hydrogen propulsion systems therefore require the presence of at least one hydrogen tank, particularly in gaseous form. Such tanks are heavy and bulky.

[0008] In this context, the present invention relates to an autonomous agricultural machine comprising a hydrogen propulsion system, with hydrogen tanks arranged on top of the machine's frame. It should be noted that it is counterintuitive for a person skilled in the art to place such hydrogen tanks on top of the machine, as they would assume that, to improve stability, the tanks should instead be placed on the sides. PRESENTATION OF THE INVENTION

[0009] More specifically, the invention relates to an autonomous agricultural machine comprising a frame, wheels, the frame having a width, two sides on either side of a longitudinal axis of the autonomous agricultural machine, and a top, at least one tool that can be accommodated in a usable volume defined by the width and the top of the frame, the autonomous agricultural machine further comprising a hydrogen propulsion system including at least one hydrogen fuel cell. The autonomous agricultural machine according to the invention is remarkable at least in that it includes at least one hydrogen tank arranged longitudinally on the top of the frame, the hydrogen fuel cell being configured to consume hydrogen from the at least one hydrogen tank and oxygen captured from the air so as to supply electrical energy to an electric motor of the hydrogen propulsion system.

[0010] The autonomous agricultural machine with a hydrogen-powered engine is thus safer. Furthermore, the invention allows for the use of hydrogen cylinders of different sizes.

[0011] In particular, at least one hydrogen cylinder is arranged longitudinally on top of the frame.

[0012] According to one embodiment, the autonomous agricultural machine according to the invention comprises two hydrogen tanks arranged longitudinally on top of the frame parallel to each other, on either side of the longitudinal axis of the autonomous agricultural machine.

[0013] Advantageously, the framework comprises two transverse beams fixed on two longitudinal beams, at least one hydrogen cylinder resting by its ends and being fixed on the two transverse beams.

[0014] Advantageously, the distance between the two transverse beams, along the longitudinal axis, is adjustable.

[0015] According to one embodiment, the hydrogen fuel cell powers a power architecture comprising, in addition to the electric motor, a plurality of other electrical equipment. In particular, the hydrogen fuel cell can also supply electrical energy to one or more electrical components of the autonomous agricultural machine, including: one or more electrical power converters; one or more batteries; one or more computers.

[0016] According to one embodiment, the autonomous agricultural machine according to the invention comprises at least one battery, in particular a lithium-ion battery, disposed on a side of the frame and attached to the latter.

[0017] According to one embodiment, the autonomous agricultural machine according to the invention comprises at least one air filter adapted to extract oxygen from the air and at least one computer disposed on a side of the autonomous agricultural machine, and configured to control the admission of hydrogen from at least one hydrogen and oxygen cylinder, obtained via the air filter, into at least one hydrogen fuel cell, to produce a quantity of electrical energy powering the electric motor of the hydrogen propulsion system.

[0018] According to one embodiment, the autonomous agricultural machine according to the invention comprises at least one tank configured to include an active product and means for spraying the active product arranged in the useful volume, substantially in a longitudinal median plane of the autonomous agricultural machine.

[0019] According to one embodiment, the autonomous agricultural machine according to the invention further comprises containment panels arranged on the sides of the autonomous agricultural machine and configured to block the diffusion of active product to the outside of the useful volume.

[0020] According to one embodiment, the autonomous agricultural machine according to the invention further comprises one or more tools intended for soil work, soil maintenance or vine maintenance, for example one or more tools for pruning vine roots. PRESENTATION OF THE FIGURES

[0021] The invention will be better understood upon reading the following description, given solely by way of example, and referring to the attached drawings given as non-limiting examples, in which identical references are given to similar objects and on which:

[0022] Fig. 1 is a schematic front view representation of an autonomous agricultural machine comprising a hydrogen propulsion system;

[0023] Fig. 2 is a schematic representation of another example of an autonomous agricultural machine according to the invention, in isometric view;

[0024] The [Fig.3] corresponds to an isometric view of the autonomous agricultural machine of the [Fig.2], showing the side opposite to that visible on the [Fig.2].

[0025] It should be noted that the figures set out the invention in detail to enable implementation of the invention; although not limiting, said figures serve in particular to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0026] The invention relates to an autonomous agricultural machine 1 comprising a main hydrogen-powered drive system.

[0027] In particular, as in [Fig.1], such an autonomous agricultural machine 1 may consist of a vineyard robot configured to carry out the treatment of a row of vines straddled by the body of the vineyard robot.

[0028] The treatment may consist of soil work, soil maintenance, trimming or spraying of an active product, in particular in a so-called confined manner.

[0029] The autonomous agricultural machine 1 according to the invention is equipped with a hydrogen propulsion system.

[0030] With reference to [Fig. 1], the autonomous agricultural machine 1 according to the invention comprises a frame 2. In particular, the frame 2 defines a substantially parallelepiped-shaped usable volume 20 with a framework, notably metallic, having two sides which rest, via suspensions, on two pairs of independent wheels. In the usable volume 20 defined by the width between the wheels 3 on either side of a longitudinal axis X of the autonomous agricultural machine 1 and a corresponding upper plane above the frame 2, a tool can be installed.

[0031] By way of example, in [Fig. 1], a soil-working tool is installed. Within the usable volume, a tool holder 23 is installed. On this tool holder 23, a soil-working tool 24 is fixed, the soil-working tool 24 comprising blades 240 intended to penetrate the soil to work it.

[0032] The hydrogen-electric drive system of the autonomous agricultural machine 1 is notably connected to at least one hydrogen cylinder 11, 12 forming a hydrogen gas reservoir. Preferably, the autonomous agricultural machine 1 according to the invention has two hydrogen cylinders 11, 12, as in the example re- shown in figures 1 to 3.

[0033] For example, the electric drive system includes an electric motor powered by at least one hydrogen fuel cell 100 drawing hydrogen fuel from hydrogen tanks 11, 12, and oxygen from the air via an air filter 101. The hydrogen fuel cell 100 is visible in [Fig. 3]. Below it, an exhaust device 102 for the hydrogen fuel cell 100 is provided, as shown in [Fig. 3].

[0034] In addition to the electric motor, the hydrogen fuel cell 100 can also supply electrical energy to other electrical equipment of the autonomous agricultural machine 1, forming, with the electric motor, a power architecture of the autonomous agricultural machine 1. Among the electrical equipment that can be supplied with electrical energy by the hydrogen fuel cell 100, we can mention: one or more electrical power converters, one or more batteries or one or more computers, for example.

[0035] According to the invention, the hydrogen cylinders 11, 12 are arranged on top of the frame 2, and not on the sides. In particular, the hydrogen cylinders 11, 12 are supported by the frame 2 comprising transverse beams 21 and / or longitudinal beams 22, or even beams orthogonal (not shown) to the longitudinal axis X of the frame 2.

[0036] By positioning the hydrogen cylinders 11, 12 on top of the frame 2, the invention ensures that hydrogen cylinders 11, 12 of different sizes can be used, particularly longer ones than those shown in [Fig. 2] or [Fig. 3], without affecting the shape or structure of the frame 2. The hydrogen cylinders 11, 12 can indeed be supported by the frame 2 while extending to a greater or lesser extent on either side. Furthermore, placing the hydrogen cylinders on the sides would result in a more restrictive limitation on their diameter, potentially leading to greater lateral bulk, which could be a significant drawback when the autonomous agricultural machine is used in vineyards, where the spacing between rows of vines is limited.Positioning the hydrogen cylinders 11, 12 on top of the frame 2, according to the invention, makes it possible to overcome this potential drawback.

[0037] More specifically, with reference to [Fig. 2] and [Fig. 3], the hydrogen cylinders 11, 12 rest directly on the transverse beams 21 to which they are attached at their ends. The transverse beams 21 rest on the longitudinal beams 22, to which they are attached. According to this embodiment, there is therefore no mechanical contact between the hydrogen cylinders 11, 12 and the longitudinal beams 22. In this example shown throughout the In the figures, the hydrogen cylinders 11, 12 are arranged longitudinally and rest on transverse beams 21, which are fixed to longitudinal beams 21. However, a corresponding arrangement, not shown, consists of placing the hydrogen cylinders transversely on top of the frame 2. In this case, they rest similarly on longitudinal beams that are fixed to transverse beams. Everything described below with reference to Figures 1 to 3, concerning the longitudinal arrangement of the hydrogen cylinders 11, 12 and the characteristics of the longitudinal beams 21 supporting transverse beams 22, applies mutatis mutandis to the case where the hydrogen cylinders are arranged transversely and where transverse beams support longitudinal beams to which said hydrogen cylinders are fixed.

[0038] According to the preferred embodiment shown, the distance, along the longitudinal axis X of the frame 2, between the transverse beams 21 is adjustable. Thus, the distance between the transverse beams 21, at the front and rear of the frame 2, can be adapted to different lengths of hydrogen cylinders 11, 12. For example, one or both of the transverse beams 21 are configured to be able to be translated along the longitudinal beams 22, along the direction of the longitudinal axis X, in order to be fixed to the longitudinal beams 22. As a result, depending on the location chosen for fixing the transverse beams 21, they can be at different distances from each other.To this end, opposite holes 220 may be provided at different levels on the longitudinal beams 22, the holes 220 being intended to receive fixing screws to fix the transverse beams 21 to the longitudinal beams 22. Rather than hole / screw pairs 220, other fixing means may be pre-positioned at different levels on the longitudinal beams 22, such as rectangular openings into which lugs provided on the transverse beams 21 can be clipped.

[0039] This additional advantage is also related to the fact that the hydrogen cylinders 11, 12 are placed on top of the frame 2. The frame 2 is made of metal, for example steel. Its shape and volumes are configured so as not to create any cavity that could receive and store hydrogen escaping from the hydrogen cylinders 11, 12.

[0040] This arrangement securely positions the hydrogen cylinders 11, 12. In the event of the autonomous agricultural vehicle 1 tipping over, for example due to rough terrain or a particular topography (slope), the hydrogen cylinders 11, 12 are thus protected and are not at risk of damage. Most importantly, in the event of a tip-over, a damaged hydrogen cylinder, from which hydrogen would escape, is prevented from becoming trapped under the frame and under the agricultural vehicle, which could lead to the formation of pockets of hydrogen. Containing hydrogen under pressure poses a significant danger. Hydrogen is a light and highly volatile gas. Therefore, in the event of a leak, its general tendency is to rise. With the hydrogen tanks 11 and 12 on top, even if the autonomous agricultural vehicle 1 tips over, no obstacle will block the hydrogen's escape.

[0041] The connectors linking the hydrogen cylinders 11, 12 to the hydrogen fuel cell 100 via pipes are preferably also arranged mainly on top of the frame 2 and thus arranged securely, the connectors not being likely to be damaged in the event of tipping over on the side of the autonomous agricultural machine 1.

[0042] The risk of damage to the hydrogen tanks 11, 12 in the event of the autonomous agricultural machine 1 tipping over is thus greatly reduced, and the escape of hydrogen in the event of the autonomous agricultural machine 1 tipping over is not impeded. The safety of use of the autonomous agricultural machine 1 equipped with a hydrogen propulsion system is consequently improved. It should be noted that this advantage also applies when the machine does not tip over: for example, in the event of a hydrogen leak at the tanks 11, 12 or at the piping between the tanks 11, 12 and the hydrogen fuel cell 100, or at the connections between the tanks 11, 12 and said piping, the hydrogen can easily escape upwards.

[0043] Another advantage of arranging the hydrogen cylinders 11, 12 on top is that the tools stored in the usable volume 20 are easily accessible. In particular, according to one embodiment, the autonomous agricultural machine 1 performs a spraying function. In this case, the spraying tunnel corresponds to the usable volume 20, between the wheel pairs 3 and the top of the frame 2, and containment walls are advantageously arranged on the sides. It should be noted that this confined spraying function would not be possible if the hydrogen cylinders 11, 12 were arranged on the sides because it would not be possible to place containment panels on the sides, since these would be occupied by hydrogen cylinders.

[0044] The same applies when the autonomous agricultural machine 1 performs a trimming function: the trimmer tool also requires space on the sides of the machine.

[0045] According to one embodiment, one or more lithium-ion batteries 31 may be arranged on the sides of the autonomous agricultural machine 1 to power auxiliary electrical systems of the machine and / or to provide supplementary energy to the autonomous agricultural machine 1, in particular to the motorization system, in the event of a peak in power required for the operation of the machine.

[0046] A computer 5 coupled to a controller 6 can also be disposed, in particular near the controller 6, on a side of the autonomous agricultural machine 1, to control the autonomous agricultural machine 1.

[0047] A computer 50 for managing the hydrogen fuel cell 100 is dedicated to controlling the hydrogen fuel cell 100. In particular, the computer 50 for managing the hydrogen fuel cell 100 manages the production of electricity, according to the power requirement of the autonomous agricultural machine 1. Another computer, for example, can manage the admission, into the hydrogen fuel cell 100, of hydrogen from the hydrogen cylinders 11, 12 and of oxygen captured from the air.

[0048] Beneath the hydrogen fuel cell 100, an exhaust 102 is configured to discharge the water produced during the generation of electricity from hydrogen and oxygen. The autonomous agricultural machine 1, as shown in [Fig. 2], may further have an oil reservoir 4 which can be located on one side of the machine, the oil being intended for use in the autonomous agricultural machine 1 and its implements.

Claims

Demands

1. Autonomous agricultural machine (1) comprising a frame (2), wheels (3), the frame (2) having a width, two sides on either side of a longitudinal axis (X) of the autonomous agricultural machine (1) and a top, at least one tool that can be received in a usable volume (20) defined by the width and the top of the frame (2), the autonomous agricultural machine (1) further comprising a hydrogen propulsion system comprising at least one hydrogen fuel cell (100), characterized in that it comprises at least one hydrogen cylinder (11, 12) arranged longitudinally on the top of the frame (2), the frame further comprising two transverse beams (21) fixed to two longitudinal beams (22), the at least one hydrogen cylinder resting by its ends on and being fixed to the two transverse beams (21), the hydrogen fuel cell (100) being configured to consume hydrogen from at least one hydrogen cylinder (11,12) and oxygen captured from the air to supply electrical energy to an electric motor of the hydrogen propulsion system.

2. Autonomous agricultural machine (1) according to claim 1, comprising two hydrogen cylinders (11, 12) arranged longitudinally on top of the frame (2) parallel to each other, on either side of the longitudinal axis (X) of the autonomous agricultural machine (1).

3. Self-contained agricultural machine (1) according to claim 2, wherein the distance between the two transverse beams (21), along the longitudinal axis (X), is adjustable.

4. Autonomous agricultural machine (1) according to any one of the preceding claims, wherein the hydrogen fuel cell (100) also supplies electrical energy to one or more electrical equipment of the autonomous agricultural machine (1), including: one or more electrical power converters; one or more batteries; one or more computers.

5. Autonomous agricultural machine (1) according to any one of the preceding claims, comprising at least one battery (31), in particular a lithium-ion battery, disposed on a side of the frame (2) and attached thereto.

6. Autonomous agricultural machine (1) according to any one of the preceding claims, comprising at least one air filter (101) adapted to filter air and at least one computer (50) disposed on a side of the autonomous agricultural machine (1), and being configured to control the intake of hydrogen from at least one hydrogen cylinder (11, 12) and oxygen,

7.

8. obtained via the air filter (101), in at least one hydrogen fuel cell (100), to produce a quantity of electrical energy powering the electric motor of the hydrogen propulsion system. Autonomous agricultural machine (1) according to any one of the preceding claims, comprising at least one tank configured to contain an active product and means for spraying the active product arranged in the usable volume (20), substantially in a longitudinal median plane of the autonomous agricultural machine (1). Autonomous agricultural machine (1) according to the preceding claim, comprising containment panels arranged on the sides of the autonomous agricultural machine (1) and configured to block the diffusion of active product outwards from the useful volume (20).

Images