A mobile robotic platform, specifically designed to move between two rows of vines.

Abstract

The invention relates to a mobile robotic platform (1) comprising four wheels (2), a hollow chassis (3) defining a chamber, at least one platform (4) disposed above the chassis (3), said platform (4) defining at least two receiving regions (41), at least two masts (51, 52) connected to the chassis (3), the first mast (51) projecting from the edge of the chassis (3) and the second mast (52) projecting from the opposite edge; the first mast (51) extending into one of said receiving regions (41) of said platform (4) and the second mast (51) extending into the other of said receiving regions (41) of said platform (4); said platform (4) being configured to receive functional loads attached to said platform (4) on these receiving regions (41). Abstract figure: Figure 3

Description

Title of the invention: Mobile robotic platform, in particular intended for moving between two rows of vines. Technical field

[0001] The present invention relates to the field of agricultural machinery and, in particular, to the field of autonomous agricultural machinery.

[0002] More specifically, the invention relates to a mobile robotic platform intended to move between two rows of vegetation, in particular vines, especially between two rows of narrow vines. STATE OF THE ART

[0003] In viticulture, vine rows may have a particularly narrow spacing, notably between 0.9 m and 1.3 m, for example, approximately 1.2 m. Furthermore, it is known to work or harvest grapes using a straddle tractor. Such a straddle tractor can be used to treat or maintain the vines, or to harvest the grapes. In the latter case, the straddle tractor can be equipped to shake the vines to dislodge the grapes and then transfer them to a storage container by means of a transfer system. The storage container travels parallel to the straddle tractor within a row or rows of vines, and the transfer system extends between the straddle tractor and the storage container above the vines.

[0004] However, such straddle systems, coupled with storage containers, are bulky and poorly suited to narrow vineyards. Furthermore, these systems do not allow for the harvesting of grapes in whole bunches, which is notably mandatory according to the Champagne specifications for obtaining the Champagne appellation.

[0005] Thus, it is known to proceed with the manual collection of bunches of grapes in narrow vineyards, which presents a constraint in terms of time, the collection being time-consuming and arduous for the person who has to bend down, cut the bunch of grapes, stand up and put it in a container, either which he carries on his back, or which is nearby in the row.

[0006] Furthermore, there are fruit-picking robots with a chassis connected to wheels or tracks to allow movement between rows of plants. A robotic arm configured to pick the fruit is mounted on the chassis. Sometimes, the chassis can be connected to a cart configured to hold the fruit once picked.

[0007] However, this type of harvesting robot is not suitable for narrow vineyards, as it is too bulky, nor is it suitable for uneven ground with slopes. Indeed, the cart, like the robotic arm, is configured to operate on regular and relatively flat ground.

[0008] Thus, the invention aims to solve the aforementioned problems by proposing a modular robotic platform intended to move between rows of vegetation, in particular narrow rows of vines, adapted to irregular and sloping soils, and allowing both the maintenance of the vines, the collection of whole bunches of grapes and the storage of said bunches of grapes, so as to facilitate, automate and reduce the time and constraint of collecting bunches of grapes between rows of vegetation, in particular narrow rows of vines. PRESENTATION OF THE INVENTION

[0009] More specifically, the invention relates to a mobile robotic platform intended to move between two rows of vegetation, in particular vines, and extending in length along a longitudinal axis, in width along a transverse axis and in height along a vertical axis, said platform comprising four drive wheels, namely two left wheels and two right wheels; a hollow chassis delimiting a chamber, connected to the drive wheels, the left wheels being placed on the same edge of the chassis and the right wheels being placed on the same edge opposite the edge of the chassis to the edge receiving the left wheels; at least one platform, arranged above the chassis, said platform having at least two receiving regions, namely a first region and a second region;at least two masts connected to the chassis, namely a first mast and a second mast, the first mast projecting from the edge of the chassis receiving the two left wheels along the vertical axis, in a direction opposite to the ground, and the second mast projecting from the opposite edge along the vertical axis, also in a direction opposite to the ground.

[0010] According to the invention, the first mast extends into one of said receiving regions of said platform and the second mast extends into the other of said receiving regions of said platform; said platform being configured to receive, respectively on each of these receiving regions, a functional load, in particular respectively a container and a robotic arm, said functional loads being attached to said platform.

[0011] In particular, the robotic platform is autonomous between the rows of vines and allows for vine maintenance, harvesting and / or storage of fruit, namely bunches of grapes, picked from the vines. Indeed, the wheels allow the robotic platform to move between the vines, and the chassis, and in particular the chassis chamber, houses the drive mechanism. Drive wheels allow the robotic platform to move. The platform positioned above the chassis chamber also allows for the attachment of a container for storing harvested fruit and / or a robotic arm for harvesting fruit or maintaining vines, for example. Each section of the platform can accommodate said container and / or robotic arm, or any other functional load, as described below. The modularity of the robotic platform according to the invention is thus remarkable. The platform can be adapted to the user's needs, whether for harvesting, maintenance, etc. Furthermore, the protruding masts of the two receiving sections on opposite longitudinal and transverse edges of the chassis allow access to a first vineyard from one side of the robotic platform and also access to a second vineyard from the other side.Thus, harvesting and / or maintenance can be carried out simultaneously on the two vineyards between which the robotic platform moves, without requiring multiple passes or back-and-forth trips. Furthermore, since the masts are designed to extend above the vineyard vegetation, the platform is visible to a user located between the rows of vines between which the robotic platform is moving.

[0012] Advantageously, the tray is removable on said chassis.

[0013] The chassis chamber notably houses the drive mechanism for the drive wheels, enabling the movement of the robotic platform. By removing the plate located above the chamber, access to the chamber and thus to the drive mechanism is possible.

[0014] Advantageously, the platform includes fastening units located on each of the edges of the chassis, said fastening units being configured to allow each mast to be attached to the platform and said functional loads to be attached to said platform respectively in the first region and the second region.

[0015] The fastening units may, for example, include threaded bores, allowing the functional loads, in particular the container(s) on the platform and the robot(s) or robotic arm(s) on the platform, to be secured by means of a screw system. Thus secured, the functional loads are permanently attached to the robotic platform and their fall from the platform is prevented, even on uneven ground, slopes, etc. The masts are secured to the platform by these fastening units. The fastening units thus allow for a configuration adaptable to the user.

[0016] Advantageously, the robotic platform comprises at least two cameras, located on the chassis on a first transverse edge and on a second transverse edge of said chassis.

[0017] The cameras thus constitute the vision system of the robotic platform.

[0018] Advantageously, through perforations are formed in the first and second receiving regions of the tray.

[0019] Advantageously, through openings are formed in the first and second receiving regions of the tray.

[0020] The through openings can help to grip the tray to facilitate its placement.

[0021] Advantageously, the chassis has in particular a maximum width along the transverse axis of 0.6 m.

[0022] Such a width makes it possible to ensure the movement of the robotic platform in narrow vineyards.

[0023] Advantageously, each mast has at least one control unit and at least one mast has a light indicator configured to indicate the location of the robotic platform.

[0024] The control unit allows, for example, the robotic platform to be stopped. The user can, for instance, press an emergency stop button located on the mast, causing the platform to come to a complete stop. The indicator light, positioned high above the ground on which the robotic platform travels and above the vineyard vegetation, allows a user to locate the robotic platform, even when it is moving between two rows of vines.

[0025] Advantageously, each mast has a height of between 1.2 m and 1.3 m, allowing in particular to clear the control units from the vegetation, in particular the vine, and corresponding substantially to the average height of a human, the control units thus being at an ergonomic height from the ground.

[0026] Thus, a human can access the mast and, by simply raising their arm and pressing a dedicated button on the control unit, trigger an emergency stop of the platform. Furthermore, this mast height allows the antennas located in the upper part of the mast to be clear of vegetation, making it possible, in particular, to receive radio and satellite signals without obstruction from the vineyard vegetation.

[0027] Advantageously, each mast comprises two portions, namely a first portion and a second portion, each first portion projecting vertically along the vertical axis of the chassis in the opposite direction of the wheels, each second portion projecting from the first portion in an inclined manner, towards the platform.

[0028] According to one embodiment, the robotic platform includes handles at the front and rear and on each side, provided in the lateral faces of the robotic platform chassis, to allow manipulation of the robotic platform. PRESENTATION OF FIGURES

[0029] The invention will be better understood upon reading the following description, given solely by way of example, and referring to the accompanying drawings given as examples. non-exhaustive examples, in which identical references are given to similar objects and on which:

[0030] Fig. 1 is a schematic perspective representation of the robotic platform that is the subject of the invention, showing the chassis on which the platform is placed and the two diagonally opposed masts are attached;

[0031] [Fig.2] is a side view of the robotic platform of [Fig.1];

[0032] Figure 3 is a view similar to that of Figure 1, in which a container has been added to one of the receiving regions of the robotic platform tray;

[0033] [Fig.4] is a view similar to that of [Fig.3], on which a second container has been added to the other receiving region of the robotic platform tray;

[0034] [Fig.5] is a view similar to that of [Fig.4], the containers here are crates;

[0035] Fig. 6 is a top view of the robotic platform of Fig. 1;

[0036] Fig. 7 is a front view of the robotic platform of Fig. 1, rendering visible one of the navigation cameras of the robotic platform;

[0037] [Fig.8] is a view similar to that of [Fig.4], in which a container has been replaced by a robotic arm;

[0038] Figure 9 is a view similar to that of Figure 8, in which the container has been replaced by another robotic arm; and

[0039] Fig. 10 is a view similar to Fig. 1, the tray having been removed so as to make visible the chamber delimited in the chassis.

[0040] 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

[0041] The invention relates to the field of agricultural machinery and, in particular, to the field of autonomous agricultural machinery.

[0042] With reference to [Fig.1], the invention relates in particular to a robotic platform 1. The robotic platform 1 is mobile and intended to move on the ground, between two rows of vines.

[0043] In particular, the robotic platform 1 is intended to move between two rows of narrow vines.

[0044] Narrow vines are understood to mean vines whose rows are spaced from each other in particular from 0.9 m to 1.3 m, for example about 1.2 m.

[0045] The robotic platform 1 extends in length along a longitudinal axis X, in width along a transverse axis Y and in height along a vertical axis Z.

[0046] The robotic platform 1 has four wheels 2. In particular, the robotic platform 1 has two left-hand wheels and two right-hand wheels. The wheels 2 enable the robotic platform 1 to move between the vines. The wheel dimensions are specifically designed to allow the use of standard agricultural tires suitable for vineyards, and the overall mass of the robotic platform 1 is specifically configured to allow the use of these standard agricultural tires at low pressure, which protects the soil and maximizes the stability and obstacle-crossing capabilities of the robotic platform 1.

[0047] The robotic platform 1 further comprises a chassis 3, at least one platform 4 and at least two masts 51, 52.

[0048] With reference to [Fig. 10], the chassis 3 is hollow and defines a chamber 30. The chassis 3 is connected to the four drive wheels 2. In particular, the two left wheels are located on one edge of the chassis 3 and the two right wheels are located on the other edge of the chassis 3, opposite the edge receiving the left wheels. With reference to [Fig. 1], the left and right wheels are connected to the chassis 3, respectively on each side of the robotic platform 1.

[0049] The chamber 30 of the chassis 3 allows to house a drive mechanism for the wheels 2 of movement allowing the mobility of the robotic platform 1 between the vines.

[0050] The chassis 3 preferably has a maximum width along the transverse Y axis of 0.6 m. Thus, it is compatible with narrow vineyards. Indeed, such a width allows the robotic platform 1 to move freely in narrow vineyards.

[0051] With reference to [Fig.1], the tray 4 is removable on the chassis 3 and is arranged above the chamber 30 of the chassis 3.

[0052] The platform 4, positioned above the chamber 30, can prevent access to the drive mechanism of the robotic platform 1. Conversely, leaving access to the chamber 30 of the chassis 3 free by removing the platform 4 can allow access to the drive mechanism and, for example, facilitates its maintenance.

[0053] In particular, the platform 4 has the shape of a plate extending longitudinally. The platform 4 here delimits two receiving regions 41, 42, namely a first receiving region 41 and a second receiving region 42.

[0054] In the example shown in the figures, the first receiving region 41 and the second receiving region 42 have the same dimensions.

[0055] It is evident that the first receiving region 41 and the second receiving region 42 may have different dimensions.

[0056] According to an embodiment not shown, the plate 4 may have more receiving regions along its length.

[0057] As shown in Figures 3, 4, 5, 8 and 9, the platform 4 is configured to receive on its receiving regions 41, 42, a container 6 and / or a robot or a Robotic arm 7. Container 6, robot, or robotic arm 7 are secured to platform 4. It is understood that the container 6, robot, or robotic arm 7 referred to here and in the following description are examples of functional loads that can be received on platform 4. "Functional load" means a payload, in particular having a specific function within the context of the robotic platform that is the subject of the present invention. Other functional loads can be placed on the respective receiving regions 41 and 42 and are interchangeable, thus increasing the modularity of the robotic platform.

[0058] Furthermore, the robotic platform 1 according to the invention is specifically designed to operate between two rows of vines. However, it can also be used between two rows of vegetation other than vines. The robotic platform 1 according to the invention can also be used in an open field. The use of the robotic platform according to the invention is, however, particularly advantageous in the case of rows of vines, and even more specifically in the case of narrow vines.

[0059] Thus, the plate 4 placed in position above the chamber 30, makes it possible to prevent access to the drive mechanism.

[0060] In addition, the platform 4 may include fastening units 43. The fastening units 43 are located on each of the longitudinal edges of the chassis 3. The fastening units 43 are configured to allow each mast 51, 52 to be attached to the platform 4 and said containers 6 and / or robotic arms 7 to be attached to the platform 4 respectively in the first region 41 and the second region 42.

[0061] In the embodiment shown in the figures, the fastening units 43 may, for example, include threaded bores, allowing the container(s) 6 to be secured to the platform 4 and the robotic arm(s) 7 to the platform 4. Thus secured, the container 6 and / or the robotic arm 7 is fixedly connected to the robotic platform 1 and its fall from the platform 1 is prevented, even on uneven ground, on slopes, etc.

[0062] In addition, through perforations 9 can be formed in the first region 41 and / or the second receiving region 42 of the tray 4.

[0063] The through perforations 9 can help to grip the tray 4 for its placement. In addition, these through perforations 9 also allow, where necessary, the drainage of grape juice and prevent its accumulation on the tray 4.

[0064] In addition, through openings 10 can be formed in the first receiving region 41 and / or the second receiving region 42 of the tray 4.

[0065] The openings 10 allow the platform 4 to be grasped. Thus, through these openings 10, the platform 4 can be positioned so as to come above the chamber 30 or, conversely, the tray 4 can be removed so as to open chamber 30 of the frame 3.

[0066] With reference to [Fig. 1], the two masts 51, 52 are connected to the chassis 3. In particular, a first mast 51 protrudes from the chassis 3, vertically, along the Z axis, in the opposite direction of the travel wheels 2 and a second mast protrudes from the chassis 3, vertically, along the Z axis, in the opposite direction of the travel wheels 2. The first mast 51 and the second mast 52 each protrude from one of the longitudinal edges of the chassis 3.

[0067] In particular, the first mast 51 extends into the first receiving region 41 or into the second receiving region 42 of the platform 4 and the second mast 52 extends into the other of the receiving regions 42, 41 of the platform 4. In other words, the first and second masts 51, 52 protrude from the two receiving regions 41, 42 on opposite longitudinal and transverse edges of the frame 3. The first mast 51 and the second mast 52 are diagonally opposite.

[0068] The masts 51, 52 are secured to the platform 4 by its fixing units 43. The fixing units 43 then allow a configuration adaptable to the user.

[0069] The arrangement of the masts 51, 52 on the platform 4 allows access to a first vine on one transverse side of the robotic platform 1, and also access to a second vine on another transverse side of the robotic platform 1. Thus, harvesting and / or maintenance can be carried out simultaneously on the two vines between which the robotic platform 1 moves, without requiring multiple passes or back-and-forth trips. Furthermore, the masts 51, 52, projecting above the vegetation of the vines, allow access to the platform 1 by a user located between the rows of vines, directly adjacent to the rows of vines between which the robotic platform 1 moves.

[0070] With reference to the figures, each mast 51, 52 may have at least one control unit and at least one indicator light configured to indicate the location of the robotic platform 1.

[0071] The control unit allows, for example, the stopping of the robotic platform 1. The user can, for example, press an emergency stop button located on the mast 51, 52, causing the complete stopping of the platform 1. The light indicator, located high above the ground on which the robotic platform 1 travels and above the vegetation of the vines, allows a user to locate the robotic platform 1, even when it is in operation between two rows of vines.

[0072] Furthermore, each mast 51, 52 has a height corresponding to the average height of a human. Thus, a human can access the mast 51, 52 and, by simply raising their arm and pressing the control unit, trigger an emergency stop of the platform 1. In addition, this mast height of 51, 52 allows vegetation to be cleared from antennas located in an upper part of mast 51, 52, allowing in particular to capture radio signals, satellites.

[0073] According to one embodiment, each mast 51, 52 comprises two portions, namely a first portion 53 and a second portion 54, each first portion 53 projecting vertically along the vertical axis Z of the chassis 3 in the direction opposite to the ground, and therefore also opposite to the wheels 2 which rest on the ground. Each second portion 54 projects from the first portion 53 at an angle, in the direction of the platform 4. Each second portion specifically supports the control unit for each mast 51, 52.

[0074] This inclination of the respective portions 54 of the masts 51, 52 allows for the maximum recentering of the emergency stop buttons located on the control units, without encroaching on the loading surface of the platform 4 and without hindering the placement, retrieval, or removal of a container 6, for example, from the side. It also allows the control units to be positioned further from the ground in the event of the robotic platform 1 tipping onto its side.

[0075] With reference to Figures 4 and 5, the robotic platform 1 can transport two containers 6, one container 6 on each of the receiving areas 41, 42 of the platform 4. This configuration allows for collaboration between the robotic platform 1 and one or more users. The user collects the grape bunches from the vines and stores them in the containers 6; the robotic platform 1 then handles the storage and transport of the harvested bunches along the vines. The arrangement of the masts 51, 52 allows the bunches to be deposited into the containers 6 placed on the robotic platform 1 from the front, the rear, or either side of the platform.

[0076] With reference to [Fig.8], a robotic arm 7 can be attached to the first receiving portion 41 of the platform 4 and a container 6 can be attached to the second receiving portion 42 of the platform 4. The robotic arm 7 can, for example, include a pruner and / or a gripper, allowing the bunches to be collected from the vines and then stored in the container 6. Thus, such a configuration allows for autonomous collection and transport of the bunches of grapes throughout the vineyard.

[0077] According to one embodiment, the robotic arm 7 can be equipped with a gripper allowing it to grasp containers 6 arranged on the ground and transfer them onto the platform 4. Thus, with such a configuration, the robotic platform 1 would allow the collection of containers 6 and then their transport.

[0078] With reference to [Fig. 9], a robotic arm 7 can be attached to the first receiving portion 41 of the platform 4 and another robotic arm 7 can be attached on the second reception area 42 of plateau 4. Such a configuration allows the maintenance of two juxtaposed vines autonomously and simultaneously.

[0079] It is evident that a plurality of configuration combinations are possible and that only a portion of them are listed here. Various functional loads can be envisaged, including various robotic arms, enabling harvesting, in-row or inter-row maintenance, and / or the collection of containers 6 associated with another similar or different robotic arm 7, i.e., one with different functionalities. It can also be envisaged to combine any of the possible robotic arms 7 with a container 6, so as to allow a user to perform a variety of tasks and thus best adapt to their needs.

[0080] The containers 6 are, in particular, standard grape harvest crates. When a first receiving area receives such a standard grape harvest crate, the robotic platform according to the invention then carries a module for transporting standard grape harvest crates. If the other receiving area of ​​the platform 4 receives a robotic picking arm capable of grasping and placing the container on the first receiving area, then the robotic platform according to the invention carries a module for picking up standard grape harvest crates.

[0081] A receiving region of the platform 4 can be equipped with a robotic arm 7 comprising a pruning shear / gripper. In this case, it is said that the robotic platform according to the invention incorporates a robotic module for maintaining rows of vines.

[0082] A receiving region of the platform 4 can be equipped with a robotic arm 7 comprising a harvesting pruner / gripper. In this case, the robotic platform according to the invention incorporates a robotic harvesting module.

[0083] A receiving region of the platform 4 can be equipped with a robotic arm 7 comprising a pruning tool. In this case, the robotic platform according to the invention incorporates a robotic pruning module.

[0084] A receiving area of ​​the platform 4 can be equipped with a plant shredding system. In this case, the robotic platform according to the invention incorporates a plant shredding module.

[0085] A receiving region of the platform 4 can be equipped with a lifting / tool ​​holder system. In this case, the robotic platform according to the invention incorporates a lifting / tool ​​holder module.

[0086] A receiving region of the platform 4 can accommodate one or more additional batteries. In this case, the robotic platform according to the invention incorporates an additional battery module.

[0087] These different modules can be freely combined to obtain numerous configurations. For example, in a "transport" configuration collaborative”, the robotic platform can carry two transport modules, in other words two 6-liter containers, including two standard wine harvest crates, each 6-liter container being received in a respective receiving area, while, on each side of the platform, a human harvests the grapes to deposit them in one of the containers, the most accessible for him, the robotic platform being also configured to move in such a way as to accompany the movement of the harvesting humans.

[0088] In a "transport and crate collection" configuration, the robotic platform can be equipped with modules for collecting standard crates of grape harvest.

[0089] In an "autonomous harvesting" configuration, the robotic platform is equipped with a robotic harvesting module and a standard grape harvest crate transport module.

[0090] In an "autonomous harvesting and unloading" configuration, the robotic platform is equipped with a robotic harvesting module and a module for collecting standard crates of grape harvest.

[0091] In an "autonomous pruning" configuration, the robotic platform is equipped with two robotic modules for maintaining vine rows, notably working in parallel on the rows located on either side of the robotic platform.

[0092] In an "autonomous pruning and shredding" configuration, the robotic platform is equipped with a robotic module for maintaining rows of vines and a module for shredding vegetation.

[0093] In an "autonomous inter-row maintenance" configuration, the robotic platform is equipped with a lifting / tool ​​carrier module and an additional battery module(s).

[0094] All the above examples are given for illustrative purposes and demonstrate the modularity of the robotic platform according to the invention.

[0095] The robotic platform 1 may further include at least two cameras 8, located on the chassis 3 on a first transverse edge and on a second transverse edge. The cameras 8 constitute the vision system of the robotic platform 1.

[0096] In addition, as can be seen in Figures 1 to 5 and 8 to 10, the robotic platform 1 may include handles 31, at the front and rear and on each side, arranged in lateral faces of the chassis 3 of the robotic platform 1, to allow the manipulation of the robotic platform 1. This allows, for example, users to manipulate the robotic platform 1 in order to help it in difficult situations (slope, hollow, overhang, etc.).

[0097] The handles 31 can be in the form of side openings provided in hoods forming the side faces closing the chassis 3 of the robotic platform 1.

[0098] An electrical interface including electrical connectors may be provided at the chassis level to allow electrical connection and communication with functional loads and / or additional external batteries, in order to connect them electrically to equipment or to an electrical power distribution module housed in the chassis as well as to allow the exchange of measurements or commands with a main controller also housed in the chassis.

[0099] It should also be noted that the invention is not limited to the embodiments described above. It will indeed be apparent to a person skilled in the art that various modifications can be made to the embodiment described above, in light of the information just disclosed to them.

[0100] In the detailed presentation of the invention given above, the terms used shall not be interpreted as limiting the invention to the embodiment set forth in this description, but shall be interpreted to include all equivalents which can be foreseen by a person skilled in the art by applying their general knowledge to the implementation of the teaching which has just been disclosed to them.

Claims

Demands

1. A modular, mobile robotic platform (1) designed to move on the ground between two rows of vegetation, particularly vines, and extending lengthwise along a longitudinal axis (X), widthwise along a transverse axis (Y), and heightwise along a vertical axis (Z), said platform (1) comprising: • four drive wheels (2), namely two left wheels and two right wheels; • a hollow chassis (3) delimiting a chamber (30), connected to the drive wheels (2), the left wheels being placed on the same edge of the chassis (3) and the right wheels being placed on the same edge of the chassis (3) opposite to the edge receiving the left wheels; • at least one platform (4), arranged above the chassis (3), said platform (4) delimiting at least two receiving regions (41, 42), namely a first region (41) and a second region (42); • at least two masts (51, 52) connected to the chassis (3), namely a first mast (51) and a second mast (52), the first mast (51) projecting from the edge of the chassis (3) receiving the two left wheels along the vertical axis (Z), in a direction opposite to the ground, and the second mast (52) projecting from the opposite edge along the vertical axis (Z), also in a direction opposite to the ground; the first mast (51) extending into one of the said receiving regions (41; 42) of said platform (4) and the second mast (51) extending into the other of the said receiving regions (42; 41) of said platform (4); said platform (4) being configured to receive, respectively on each of these receiving regions (41, 42), a functional load, in particular respectively a container (6) and / or a robotic arm (7), said functional loads being subject to said platform (4).

2. Robotic platform (1) according to claim 1, wherein the platform (4) is removable on said chassis (3).

3. Robotic platform (1) according to any one of claims 1 to 2, wherein the platform (4) has fastening units (43) located on each of the edges of the chassis (3), said fastening units (43) being configured to allow each mast (51, 52) to be attached to the platform (4) and said functional loads to be attached to said platform (4) respectively in the first region (41) and the second region (42).

4. Robotic platform (1) according to any one of claims 1 to 3, comprising at least two cameras (8), located on the chassis (3) on a first transverse edge and on a second transverse edge of said chassis (3).

5. Robotic platform (1) according to any one of claims 1 to 4, wherein through perforations (9) are formed in the first receiving region (41) and the second receiving region (42) of the tray (4).

6. Robotic platform (1) according to any one of claims 1 to 5, wherein through openings (10) are formed in the first receiving region (41) and the second receiving region (42) of the platform (4).

7. Robotic platform (1) according to any one of claims 1 to 6, wherein the chassis (3) has a maximum width along the transverse axis (Y) of 0.6 m.

8. Robotic platform (1) according to any one of claims 1 to 7, wherein each mast (51, 52) has at least one control unit and at least one mast has a light indicator configured to indicate the location of the robotic platform (1).

9. Robotic platform (1) according to any one of claims 1 to 8, wherein each mast (51, 52) has a height corresponding to the average height of a human.

10. Robotic platform (1) according to any one of claims 1 to 9, wherein each mast (51, 52) comprises two portions, namely a first portion (53) and a second portion (54), each first portion (53) projecting vertically along the vertical axis (Z) of the chassis (3) in the opposite direction to the wheels (2), each second portion (54) projecting from the first portion (53) in an inclined manner, towards the platform (4).

11. Robotic platform (1) according to any one of claims 1 to 10, comprising handles (31) at the front and rear and on each side, fitted into lateral faces of the chassis (3) of the robotic platform (1), to allow the manipulation of the robotic platform (1).

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