System for filling a watering robot

Abstract

The present invention relates to a watering system comprising at least one stationary water dispensing station (100) and at least one autonomous robotic vehicle (200) comprising a self-propelled chassis (250) supporting at least one integrated water tank with a pump and a dispensing mechanism, characterized in that the stationary water dispensing station (100) is provided with a solenoid valve controlling the supply of a pipe arranged in such a way as to produce, when the solenoid valve is open, a concentrated jet of water toward a filling endpiece (220) emerging via a transfer channel into the integrated water tank when the vehicle is positioned in a reference position with respect to the stationary station (100), the orientation of the spraying direction being either horizontal give or take 45° or vertically ascending give or take 45°, and in that the robotic vehicle (200) has means of interaction with the stationary station (100) that condition the opening of the solenoid valve when the vehicle is positioned in the reference position with respect to the stationary station (100).

Description

Description Title of the invention: Filling system for a watering robot

[0001] The present invention relates to the field of automatic watering of lawns, in particular of stadiums (football, rugby ...) or similar grassed surfaces (golf courses, private lawns, grassed horse racing grounds...).

[0002] The automatic watering of these grass surfaces relies on sophisticated systems designed to maintain optimal playing surface quality while minimizing water loss. This need is driven by increasing demands for lawn maintenance, energy efficiency, and environmental responsibility. Sports field turf must meet strict criteria for density, uniformity, and resilience to guarantee good athletic performance and optimal player safety. Regular and precise irrigation is essential to prevent areas that are too dry or too wet.

[0003] Football stadiums require uniform coverage over a rectangular area of ​​approximately 7,000 to 8,000 m². 2

[0004] Traditionally, automatic irrigation relied on fixed systems, such as buried sprinklers, which operate according to programmed cycles. However, these solutions show their limitations in environments requiring more targeted or adaptive irrigation, particularly through the use of self-propelled sprinklers or irrigation robots capable of moving around the grounds to water autonomously. They are equipped with sensors, GPS systems, or artificial intelligence to optimize their movement and adjust the water flow according to the soil's needs.

[0005] The robots detect areas requiring more or less watering, preventing over- or under-watering. They can navigate complex surfaces, such as sloping terrain or uneven areas, which is particularly relevant for golf courses. These systems adapt irrigation in real time using weather data, moisture sensors, and soil maps.

[0006] State-of-the-art robotic lawnmowers use positioning systems (GPS, RTK, LiDAR, cameras) to navigate with precision. Some are equipped with sensors that continuously measure soil moisture, weather conditions, and grass density.

[0007] Automatic refilling of the water tanks (210) of irrigation robots is an essential step to guarantee their autonomous and continuous operation. Several technological methods are used to enable this refilling without human intervention. State of the art

[0008] The prior art includes patent EP3479682, which describes an automated irrigation system comprising remotely controlled water distribution equipment, incorporating centralized control systems and sensors to adapt irrigation to environmental or programmed parameters. This document does not describe an autonomous robotic vehicle with an onboard tank capable of automatically refilling itself from a fixed position via positional interaction. Nor does it propose a concentrated jet filling mechanism contingent upon a specific vehicle position.

[0009] International application WO2016 / 202290 is also known, disclosing an autonomous mobile device for carrying out agricultural operations, particularly treatment or irrigation. The device is controlled by a control unit and capable of moving over a defined area. This document does not disclose any functional cooperation between a fixed water distribution station and a robotic vehicle for the automatic filling of an onboard tank. In particular, no concentrated jet controlled by a solenoid valve and triggered by position interaction is described.

[0010] US patent application 2015 / 359185 describes a robotic system for applying fluids to cultivated areas, comprising a mobile vehicle equipped with spraying means and a control unit for automating treatment operations. This document focuses on the application of fluids but does not address the issue of automatic water replenishment. It describes neither a fixed dispensing station nor a directional jet filling mechanism dependent on the vehicle's position.

[0011] Finally, patent EP3881662 B1 concerns an autonomous robot designed to operate on sensitive terrain, including means of movement, navigation, and processing, as well as sensors to adapt its operation to the environment. Although this document describes an autonomous robot, it does not disclose a watering system comprising a fixed station equipped with a solenoid valve producing a jet of water directed towards a filling nozzle on the robot. The issue of automated filling via interaction between the fixed station and the vehicle is not addressed. Disadvantages of the prior art

[0012] Prior art solutions are not suitable for automating the filling of large capacity tanks because they involve specific connectors that generally require human operator intervention. Solution provided by the invention

[0013] To remedy these drawbacks, the present invention relates to a watering system having the characteristics stated in claim 1.

[0014] It comprises at least one fixed water distribution station and at least one autonomous robotic vehicle (200) comprising a self-propelled chassis supporting at least one integrated water tank with a pump and a distribution mechanism, characterized in that said fixed water distribution station is equipped with a solenoid valve controlling the supply of a conduit arranged to produce, when said solenoid valve is open, a concentrated jet of water towards a filling nozzle (220) opening via a transfer channel into said integrated water tank when said vehicle is positioned in a reference position relative to said fixed station, the orientation of the projection direction being either horizontal, at plus or minus 45° or vertically upward at plus or minus 45°,and in that said robotic vehicle (200) includes means for interacting with said fixed station, conditioning the opening of the solenoid valve when said vehicle is positioned in said reference position relative to said fixed station.

[0015] The possible orientation of the projection direction is therefore primarily horizontal or vertical upwards, with a margin of angular variation around two main axes:

[0016] Horizontal orientation: The projection direction is primarily horizontal, but it can vary within a range of ±45°. This means it can be slightly tilted upwards or downwards while remaining generally horizontal.

[0017] Upward vertical orientation: The projection direction is primarily upwards, but with a tolerance of ±45°. This means it can be slightly tilted forwards or backwards while remaining generally oriented upwards.

[0018] In summary, this formulation defines two ranges of angles in which the direction of projection can be located: between -45° and +45° around the horizontal or between +45° and +135° around the upward vertical, but not vertical in the downward direction.

[0019] Preferably, said reference position is determined so that during the filling of the tank, the water stream passes after its release from said conduit through an air-free zone before entering said tank filling conduit.

[0020] According to a first variant, said end piece has a longitudinal axis forming with a horizontal axis an angle between 0° and ± 45° with respect to the horizontal, so as to be aligned with the longitudinal axis of said conduit when said vehicle is positioned in said reference position with respect to said fixed post.

[0021] According to a second variant, said conduit extends from the ground in an upward direction, with an angle between 0° and ± 45° relative to the vertical, and in that said end has a transverse opening in a horizontal plane.

[0022] Advantageously, said means of interaction consist of at least one probe mounted on said self-propelled chassis and a receiving surface provided on the fixed station, the probe being designed to establish physical contact with said receiving surface when the vehicle is positioned in said reference position.

[0023] According to a first variant, said probe consists of a rod actuating a contactor, and having at least one conductive end electrically connected to an electronic control unit of said self-propelled chassis, and in that said receiving surface is also conductive and electrically connected to said solenoid valve.

[0024] According to a second variant, not exclusive of the previous variant, said probe consists of a rod actuating a contactor, and having at least one conductive end electrically connected to the power supply battery of said self-propelled chassis, and in that said receiving surface is also conductive and electrically connected to an electrical charging circuit of the battery of said self-propelled chassis.

[0025] According to a particular embodiment, said self-propelled chassis is surrounded by a belt connected to the chassis by a silent block and a sensor triggering an alert signal in the event of relative movement of said belt with respect to said chassis.

[0026] According to an advantageous variant, the means of communication between the fixed station and the robotic vehicle are achieved without direct physical or electrical contact between these two elements. Detailed description of a non-limiting example of an embodiment of the invention

[0027] The present invention will be better understood upon reading the following description, concerning a non-limiting example of an embodiment illustrated by the accompanying drawings where:

[0028] Figure 1 shows a side view of a watering vehicle according to the invention.

[0029] Figure 2 represents a three-quarter rear perspective view of a watering vehicle according to the invention.

[0030] Figure 3 represents a perspective view of a fixed station according to the invention.

[0031] Figure 4 shows a detailed view of the means for filling the tank of a watering vehicle according to the invention.

[0032] Figure 5 represents a detailed view of the interaction means of a sprinkler system according to the invention when the autonomous vehicle is approaching the fixed station.

[0033] Figure 6 represents a detailed view of the interaction means of a sprinkler system according to the invention when the fixed station and the autonomous vehicle are in their reference position. General principles of the invention

[0034] The system according to the invention consists of one or more fixed stations (100) formed by a tubular body (101) having three conductive strips (102, 103, 104) at its lower end, this fixed station (100) being connected to a water network (110), and one or more robotic vehicles (200) carrying an integrated water tank (210) with a pump and a distribution mechanism. Each of the robotic vehicles (200) moves autonomously across the area to be treated and returns to the fixed station(s) (100) to refill the tank (210).

[0035] Fixed stations can be located near existing connection points for irrigation hoses. They are generally positioned around the perimeter of the property. It is desirable that these fixed stations (100) not encroach too much on the property so as not to cause obstruction to movement and use of the property.

[0036] To this end, the invention provides a filling solution by projecting a concentrated jet of water through a conduit connected to the fixed station (120) to enter the filling nozzle (220) provided on the robotic vehicle (200), and opening into a filling channel of the tank (210). The opening of the nozzle (220) and the inlet of the channel have a cross-section larger than that of the conduit from the fixed station (120), and the concentrated jet of water forms a stream of water at the outlet of the conduit, passing through an air gap before entering the filling channel.

[0037] For the purposes of this patent, a "concentrated jet" is defined as a slightly divergent water jet, with a divergence angle of less than 10° or even less than 5° over the distance between the outlet of the fixed station's duct (120) and the inlet of the tank filling channel (210) of the robotic vehicle (200). The jet's pressure and velocity are adjusted so that the flow maintains its trajectory without significant spreading. The jet's cross-sectional area varies very little over this distance, which is an indicator of a concentrated flow.

[0038] A concentrated jet is produced, for example, using special nozzles, such as converging nozzles, which reduce dispersion by focusing the flow.

[0039] The water jet is configured to have a maximum divergence of 10 degrees, allowing a constant cross-section and high flow density to be maintained over the distance between the outlet of the conduit and the inlet of the tank filling channel (210), when the robotic vehicle (200) is positioned in the reference position relative to a fixed station (100). Reference position

[0040] The reference position is defined as the precise alignment of the robotic vehicle (200) with respect to the fixed station (100), allowing the projection duct of the fixed station (120) to direct a jet of water into the filling nozzle (220) of the vehicle's tank (210). This position is established and validated by the following steps:

[0041] A) Initial localization using navigation systems: The robotic vehicle (200) is equipped with autonomous navigation systems such as GPS, LiDAR, or RFID tags, which allow it to navigate towards the fixed station (100) by following a predefined or dynamically calculated route. Once near the fixed station (100), the vehicle adjusts its position by reducing its speed and moving precisely towards the positioning zone defined as the reference point.

[0042] B) Validation by means of physical interaction: The vehicle is equipped with sensors (222 to 224) mounted on its chassis, designed to make physical contact with a receiving surface located on the fixed station (100). These sensors (222 to 224) actuate switches (mechanical or electrical) that validate the alignment of the vehicle with respect to the fixed station. This interaction ensures that the spray nozzle (120) is correctly positioned relative to the filling nozzle (220).

[0043] D) Functional Alignment: Once the position is validated, the projection conduit (120) of the fixed station (100) is aligned so that the projected water stream passes through a free air gap before entering directly into the filling nozzle (220) of the vehicle's tank (210). In the example described, which is not a limitation, the alignment takes into account the defined angular tolerances, with possible horizontal orientations of ±45° or upward orientations of ±45°.

[0044] E) Solenoid Valve Activation: Once alignment is confirmed by the sensors (222 to 224) and contactors, a signal is transmitted to open the solenoid valve at the station (100). Filling begins only when alignment is perfect, thus preventing any water loss or improper filling. This signal is, by way of example (not limiting the scope of this example), the connection of the electronic control unit of the robotic vehicle (200) with the station (100), which allows the solenoid valve to be powered even when the station (100) is not equipped with a battery or connected to the electrical grid.

[0045] Optimization and safety: Onboard sensors continuously monitor positional accuracy and stop the process if misalignment is detected. This configuration ensures maximum reliability for automatic tank filling. Self-propelled chassis (250)

[0046] The robotic vehicle (200) is designed to move autonomously across a grassy surface while preserving surface quality as much as possible, avoiding soil marking during movement, particularly during maneuvers when positioning itself relative to the fixed station. This involves minimizing ground pressure by reducing weight and increasing the contact area, as well as providing contact surfaces that prevent damage to the turf. This objective also encourages a reduction in the capacity of the tank(s) (210), which is possible when the movement and return to a fixed tank-filling station (100) are fully autonomous, as are the refilling operations. To achieve this, the robotic vehicle (200) is built around a self-propelled chassis (250).

[0047] A self-propelled chassis (250) refers to a mechanical structure equipped with an autonomous propulsion system, enabling it to move under its own power without direct human intervention for traction or propulsion. This type of chassis is commonly used in various fields, including agriculture, construction, robotics, and industry. It incorporates a propulsion system powered by engines (internal combustion, electric, or hybrid). It also includes wheels, tracks, or other means of locomotion.

[0048] The self-propelled chassis (250) is designed to move without external assistance, except for guidance or programming (in the case of automated or robotic systems).

[0049] The chassis can often be customized to accommodate different accessories or equipment (tank (210), mechanical arms, sensors, etc.).

[0050] The self-propelled chassis (250) is therefore a motorized and mobile platform which forms the basis of a machine or system designed to move autonomously, generally in a context where mobility is essential to its operation. Water distribution module

[0051] The water distribution module includes the tank(s) (210), a sprinkler nozzle (230) arranged in the example described at the rear of the self-propelled chassis (250), at the end of a pipe transferring water from the tank via a pump.

[0052] One or more tanks (210), mounted on the self-propelled chassis (250), store the water required for irrigation. The tanks (210) are made of lightweight and resistant material, such as reinforced polymers, to reduce the overall weight while ensuring durability against vibration and temperature variations.

[0053] A pipe connects the tank (210) to the spray nozzle (230) located at the rear of the self-propelled vehicle. This pipe is equipped with watertight fittings, control valves, and possibly a non-return system to ensure a constant water flow and prevent leaks.

[0054] An electric pump, mounted on the chassis, transfers water from the reservoir (210) to the sprinkler nozzle (230). The pump is electronically controlled to adjust the flow rate according to the vehicle's speed or the watering needs of the lawn.

[0055] The nozzle (230) is positioned at the rear of the chassis, slightly angled downwards to project a fan-shaped jet of water onto a transverse strip behind the robotic vehicle (200). It is designed to produce a diffused spray, allowing for uniform watering of a strip of grass behind the vehicle. The flow rate and, if necessary, the spray angle are adjustable to accommodate different strip widths, for example, between 1 and 3 meters, as required. The nozzle (230) is equipped with anti-clogging devices, such as integrated filters, to ensure continuous operation. Alternatively, the nozzle can be replaced with a boom comprising a row of nozzles.

[0056] An electronic control unit synchronizes the operation of the pump and the sprinkler nozzle (230).

[0057] Based on programmed parameters (water flow rate, width of the strip to be watered), the system automatically adjusts the flow and, if necessary, the spray angle. A speed sensor integrated into the vehicle regulates the watering flow rate proportionally to the travel speed.

[0058] The flow rate is also controlled based on data stored in a computer's memory, using a humidity map that defines the local humidity. Geolocation allows the required surface area of ​​water, and therefore the appropriate flow rate, to be determined as the robotic vehicle (200) moves, depending on its speed and position.

[0059] The distribution module is mounted in an easily accessible location on the chassis for simplified maintenance. The components are protected by a weatherproof and particle-resistant housing to ensure the system's durability in outdoor environments.

[0060] As the vehicle moves forward, the pump supplies the nozzle (230) with water from the reservoir (210) with a flow rate modulated according to the position, location and information relating to local water needs.

[0061] The nozzle (230) fans out water, covering a strip of lawn behind the vehicle evenly and without excessive concentration of the flow. This system ensures effective coverage while minimizing water waste. Irrigation flow is controlled based on humidity data and geolocation.

[0062] The robotic vehicle's (200) watering system incorporates an advanced water flow regulation mechanism, controlled in real time by an onboard computer. This system relies on the analysis of environmental data combined with the vehicle's geographical position.

[0063] A humidity map is pre-recorded in the memory of the on-board computer.

[0064] This map is a digital representation of the moisture content of different areas of the land to be irrigated. This moisture map is generated from data collected by field sensors, drones, or previous analysis systems, including probes distributed across the field, or data acquired by geolocated moisture probes moved by an operator.

[0065] This humidity map can also be recorded by using the robotic chassis equipped with a humidity probe mounted on a cylinder allowing automatic acquisitions with the same robotic vehicle (200) as the one used for watering afterwards.

[0066] The values ​​on this map indicate the amount of water needed for each area, expressed in liters per square meter, based on the measured humidity and the specific needs of the soil and vegetation.

[0067] The robotic vehicle (200) is equipped with a geolocation system, such as GPS or a system based on local RTK-type beacons.

[0068] In real time, the vehicle's position is compared to the geographic coordinates on the moisture map, allowing the system to determine the area where the vehicle is located. This synchronization between the vehicle's position and the map data makes it possible to instantly determine the water requirements of the area being irrigated.

[0069] The on-board computer determines the required surface area of ​​water based on: - The local humidity of the current area (extracted from the humidity map). - The characteristics of the soil and plants specific to this area. - The quantity of water is translated into an instantaneous flow rate, adapted to the speed of movement of the vehicle and the width of the watered strip.

[0070] A computer controls the dynamic flow rate regulation based on the speed of movement. The water flow rate is automatically adjusted in real time according to the following formula:

[0071] Q = S x DvQ = \frac{S \times £)}{v]Q = vS x D

[0072] Or : QQQ is the required water flow rate (in liters / second). SSS is the area covered by the water jet (in square meters). - DDD is the water density required for the area (in liters / square meter, from the hygrometric map). - vvv is the speed of movement of the vehicle (in meters / second).

[0073] If the vehicle slows down or speeds up, the flow rate is immediately recalibrated to maintain uniform irrigation, without over-watering or under-watering.

[0074] The computer simultaneously manages the opening and closing of the pump, the modulation of the water flow by adjusting the pump pressure or the valves, and the continuous verification of the humidity map data and the geographical position.

[0075] This system guarantees maximum precision, even on terrain with varying water requirements. It reduces water waste by precisely adjusting the flow rate to the actual needs of each area, and also optimizes energy consumption: the pump only operates at the necessary power, limiting unnecessary overloads. Filling nozzle (220)

[0076] The filling nozzle (220) is a key component of the robotic watering system according to the invention. It is designed to receive the concentrated jet of water projected by the station (100) and to efficiently convey the water to the integrated water tank (210) of the robotic vehicle (200). A detailed description of its technical and functional characteristics follows:

[0077] The filling nozzle (220) has a conical or cylindrical shape, with an opening designed to efficiently receive the water jet. The opening is preferably slightly flared to facilitate water jet capture, even if minor alignment variations occur.

[0078] Made from durable polymer (such as reinforced polypropylene) or lightweight metal (anodized aluminum), the nozzle (220) is designed to withstand high pressure, wear, and water corrosion. Non-stick coatings can be added to reduce limescale or particle buildup.

[0079] The inside of the nozzle (220) has smooth walls to minimize turbulence and guide the water stream directly to the internal conduit leading to the reservoir.

[0080] A funnel-shaped design can be used to efficiently channel water towards the internal opening. Internal edges or deflectors can be incorporated to reduce splashing and improve water transfer efficiency.

[0081] Although the nozzle (220) is not in physical contact with the conduit (120) of the fixed station (100), its design minimizes water loss by creating a low turbulence zone around the inlet.

[0082] The nozzle (220) is connected to the water reservoir (210) via a sealed internal filling channel. This filling channel may include a check valve to prevent water from flowing back into the nozzle. It may also include a water level sensor integrated into the filling channel or the reservoir, allowing the filling process to stop when the reservoir (210) is full.

[0083] The nozzle (220) is positioned so that it is directly opposite the projection duct (120) of the fixed station (100) when the vehicle is in its reference position. The opening of the nozzle (220) is sized and oriented to capture the entire concentrated jet produced by the fixed station (100), even under conditions of slight misalignment.

[0084] Optionally, optical or mechanical sensors, integrated near the nozzle, detect the arrival of the water jet. These sensors can send a signal to confirm that filling is in progress.

[0085] The nozzle (220) may include a purge mechanism to evacuate air contained in the internal conduit before the water reaches the reservoir.

[0086] The conduit (120) has a length, in the horizontal example described, generally between 30 and 100 mm, with slight variation depending on the design of the fixed station (100) and the spray nozzle. The length is short enough to fit within the fixed station, but long enough to ensure proper water guidance.

[0087] A grid or filter can be installed at the nozzle inlet (220) to prevent debris or impurities from entering the reservoir. The nozzle (220) is designed for easy access for maintenance or replacement. Its shape is optimized for efficient water flow capture without significant loss and it can operate with various types of concentrated jets, even in the presence of slight misalignments.

[0088] In the case of filling via a nozzle producing an upward jet, the conduit may consist of a fixed or retractable vertical tube. In a particular embodiment, it has a flow control valve, actuated by contact with a wall of the filling nozzle (220). In another embodiment, the nozzle (220) is motorized to move vertically downwards when the robotic vehicle (200) is positioned above the conduit (120), causing the valve to depress and the water supply to open. When the tank level is reached, the nozzle is raised, causing the valve to close and the supply to the conduit (120) to be interrupted. Fixed position (100)

[0089] The fixed station (100) includes a conduit (120) extending horizontally in the example described, with a nozzle for forming a concentrated jet directed horizontally. A concentrated jet refers to a liquid flow where the water stream remains well-defined and compact, with little lateral dispersion. This means that the jet's energy is directed in such a way as to minimize its divergence and maintain a high flow density over a small cross-section.

[0090] The fixed station (100) constitutes an essential unit of the robotic watering system, designed to allow efficient and precise filling of the water tanks (210) of the robotic vehicle (200).

[0091] The fixed station (100) is an installation anchored to the ground or a dedicated structure. It includes a horizontal conduit (120) made of robust, corrosion-resistant material, such as stainless steel or reinforced polymers. This conduit (120) is designed to direct the water flow in a controlled manner. It extends horizontally to project the water toward the filling nozzle (220) of the robotic vehicle (200) when the vehicle is positioned in the reference position. The length of the conduit (120) is optimized to ensure precise jet direction and prevent internal turbulence.

[0092] A specific nozzle is mounted at the end of the conduit (120). This conduit (120) includes a nozzle designed to produce a concentrated jet with a minimal divergence angle (generally less than 5°), ensuring targeted and uniform projection. The nozzle design includes internal channels that accelerate the water to maintain high velocity and high flow density. This ensures that the water stream remains consistent and compact over the entire distance between the fixed station (100) and the vehicle's tank.

[0093] The concentrated jet is characterized by: - A compact cross-section, allowing water transmission without excessive lateral dispersion. - A high outlet velocity, generally generated by controlled water pressure at the fixed station (100). - Maintaining the consistency of the water vein over a determined distance, thanks to minimizing disturbances due to ambient air.

[0094] This configuration is designed to allow the jet to directly reach the vehicle's filling nozzle (220), even in the presence of environmental factors such as wind. The fixed station (100) is equipped with a hydraulic control system that allows: - Precise regulation of water pressure according to the distance to be traveled by the jet. - A dynamic adjustment of the flow rate in case of variation in the needs or configuration of the robotic vehicle (200). - A solenoid valve is integrated into the fixed station (100), controlling the opening and closing of the water flow for the conduit (120) according to the signals received from the robotic vehicle (200).

[0095] Optionally, the solenoid valve activation is triggered by confirmation of the robotic vehicle's (200) reference position. For example, when the conductive probes (222 to 224) for "ground" and "power," each with a conductive end, make contact with the conductive strips on the stationary unit (100), the robotic vehicle's (200) electronic control unit powers an electronic circuit in the stationary unit (100). The signal from the robotic vehicle (200) can then control the solenoid valve's operation, opening the hydraulic circuit when the nozzle (220) is correctly positioned opposite the conduit (120), and closing the hydraulic circuit when the reservoir is full.

[0096] The fixed station (100) can optionally include sensors (optical, RFID, or ultrasonic) to detect and validate the alignment of the nozzle (220) or the robotic vehicle (200) in the reference position before the solenoid valve is opened.

[0097] A filter is advantageously integrated upstream of the duct to prevent particles or debris from clogging the nozzle, ensuring a smooth and consistent spray. The fixed unit (100) is equipped with a protective cover or housing to protect the duct and its spray nozzle (120) from environmental conditions (rain, dust, frost).

[0098] The concentrated jet, thanks to its low divergence, ensures that the water reaches exclusively the filling nozzle (220) without lateral losses.

[0099] This system reduces the risk of water waste and allows for rapid and precise filling of the tanks (210) of the robotic vehicle (200). Means of communication between the fixed station (100) and the robotic vehicle (200)

[0100] The communication means between the fixed station (100) and the robotic vehicle (200) enable reliable interaction to validate the vehicle's reference position and authorize the filling of the water tank. In the example described, these means include sensors (222 to 224) mounted on the robotic vehicle (200) and conductive strips located on the body of the fixed station (100), which work together to establish physical and electrical contact. A detailed description of these elements follows:

[0101] Each probe consists of a rod or articulated arm made of conductive material, such as aluminum or a light metal alloy, to allow the transmission of an electrical signal.

[0102] The ends of the probes (222 to 224) are fitted with flexible contacts or tips made of conductive material covered with an anti-wear coating, ensuring stable interaction with the conductive strips.

[0103] The probes (222 to 224) are mounted on the vehicle chassis, generally extending laterally towards the filling nozzle (220). They are oriented to make contact with the conductive strips of the station (100) when the vehicle reaches its reference position.

[0104] The sensors (222 to 224) are kept in the open position during vehicle movement.

[0105] Once the vehicle is aligned with the fixed station (100), the probes (222 to 224) make contact with the body of the fixed station (100) and are constrained by the movement of the robotic vehicle (200) until they trigger a change of state in the associated contactor, via a spring mechanism or an electrical control system, ensuring a reliable connection with the conductive strips. The change of state in the contactor commands the robotic vehicle (200) to stop and the transmission of an arrival signal at the reference position.

[0106] The conductive strips (102 to 104) are metallic plates or tracks, usually made of copper or stainless steel, installed on the external surface of the fixed station (100).

[0107] They are sized to offer a large contact area with the probes (222 to 224), thus reducing the accuracy requirements for alignment.

[0108] The conductive strips (102 to 104) are positioned so as to correspond precisely to the contact areas of the probes (222 to 224) when they reach the reference position.

[0109] Their placement ensures that even minor variations in alignment do not affect the interaction between the two systems.

[0110] Once the sensors (222 to 224) make contact with the belts, an electrical circuit is closed, allowing the transmission of a signal between the station (100) and the vehicle. These belts are isolated from the rest of the station (100) to prevent any short circuits and ensure safe operation.

[0111] When the probes (222 to 224) come into contact with the conductive strips (102 to 104), an electrical signal is sent to the computer of the fixed station (100) to confirm that the vehicle is correctly positioned.

[0112] This signal can also be transmitted to the vehicle to synchronize internal systems, such as the opening of the solenoid valve. Once the signal is validated, the station (100) authorizes the opening of the solenoid valve to begin filling the tank.

[0113] In case of disconnection of the probes (222 to 224) or incorrect alignment, the circuit is interrupted and the filling is immediately stopped.

[0114] The probes (222 to 224) and conductive strips (102 to 104) are designed to withstand demanding outdoor environments, including dust, humidity and temperature variations.

[0115] The coating on the strips limits the effects of corrosion and wear caused by repeated contact.

[0116] Thanks to the width of the conductive bands (102 to 104) and the flexibility of the probes (222 to 224), the system tolerates small alignment errors between the vehicle and the fixed station (100).

[0117] Direct contact transmission offers superior reliability compared to wireless systems in environments where interference can be problematic.

[0118] The conductive strips are protected by an insulating coating when not in contact with the probes (222 to 224), reducing the risk of contamination by dust or water.

[0119] The sensors (222 to 224) are equipped with an automatic retraction mechanism when not in use, preventing any damage during vehicle movement.

[0120] Periodic maintenance is planned to clean contact surfaces and ensure optimal operation.

[0121] Physical contact ensures reliable position validation. The simple mechanical interface reduces the risk of failure and facilitates maintenance.

[0122] Several configurations are possible: The fixed station (100) can have no electrical power supply and be connected only to a water network. In this case, the robotic vehicle (200) supplies a solenoid valve that controls the water flow provided by the pipe (120), via conductive sensors (222 to 224), when they are in contact with the conductive strips (102 to 104) of the fixed station (100). The robot (200) can include an electronic circuit that controls the power supply to the solenoid valve for the time required to fill the tank, and that interrupts the power supply to the solenoid valve when a fill sensor provides a signal that the tank is full.

[0123] The fixed station (100) may alternatively have its own power supply by connection to the electrical network or by a battery. In this case, the information controlling the opening and closing of the solenoid valve comes from the robot (200), either by an electrical signal transmitted via conductive probes (222 to 224) electrically connected to the conductive strips (102 to 104), or by a radio frequency link, for example Bluetooth™.

[0124] The sensors (222 to 224) can also be optionally configured to allow the robotic vehicle's (200) batteries to be recharged from a charging station with conductive strips on its surface. This can be a charging station separate from the fixed station (100), or a fixed station (100) that simultaneously provides fuel tank filling and electrical charging.

[0125] According to an advantageous embodiment, communication between the fixed station (100) and the robotic vehicle (200) is achieved without direct physical or electrical contact between these two entities. In this configuration, the fixed station (100) is equipped with a remotely controllable solenoid valve connected to a communication network, preferably wireless, allowing it to be controlled by a remote unit. The robotic vehicle (200) then has no sensors or components intended to establish electrical contact with the fixed station.

[0126] In this variant, the validation of the robotic vehicle's (200) reference position relative to the fixed station (100) is performed by on-board localization and navigation means, such as position sensors, geolocation devices, optical sensors, proximity beacons, or any combination thereof. When the robotic vehicle (200) determines that it is positioned in the reference position allowing the tank (210) to be filled, it transmits corresponding information to a remote monitoring infrastructure, such as a server or a cloud-based management platform.

[0127] The supervisory infrastructure is configured to remotely control the solenoid valve at the fixed station (100), in a manner analogous to the remote control of sprinklers or irrigation equipment distributed across the field. The opening and closing of the solenoid valve are thus controlled by a signal transmitted via the communication network, in response to confirmation of the reference position of the robotic vehicle (200) and, where applicable, to additional information such as the fill level of the tank (210), the system status, or programmed instructions.

[0128] This variant eliminates any direct mechanical or electrical interface between the station (100) and the robotic vehicle (200), thereby reducing risks associated with contact wear, corrosion, external contamination, or mechanical misalignment. It also offers greater flexibility in the station's placement, as it can be connected solely to a hydraulic and communication network, without requiring any specific contact surface with the vehicle.

[0129] It is understood that this variant without physical contact can be implemented as an alternative or complementary method to the variants described above implementing probes and conductive strips, without departing from the scope of the present invention.

Claims

AMENDED CLAIMS received by the International Bureau on July 20, 2026 (20.07.2026)

1. Irrigation system comprising at least one fixed water distribution station (100) and at least one autonomous robotic vehicle (200) comprising a self-propelled chassis (250) supporting at least one integrated water tank with a pump and a distribution mechanism, characterized in that said fixed water distribution station (100) is equipped with a solenoid valve controlling the supply of a conduit arranged to produce, when said solenoid valve is open, a concentrated jet of water towards a filling nozzle (220) opening through a transfer channel into said integrated water tank when said robotic vehicle (200) is positioned in a reference position relative to said fixed station (100), in that said reference position is determined so that, during the filling of the tank, the water stream, after its release from said conduit, passes through a zone of open air before entering said tank filling conduit, in that the orientation of the projection direction is either horizontal at plus or minus 45°, or vertically upward at plus or minus 45°, and in that said robotic vehicle (200) includes means of interaction with said fixed station (100) conditioning the opening of the solenoid valve when said robotic vehicle (200) is positioned in said reference position relative to said fixed station (100), the means of communication between said fixed station (100) and said robotic vehicle (200) being carried out without direct physical or electrical contact between these two elements.

2. Irrigation system according to claim 1, characterized in that said conduit (120) extends in a horizontal direction at plus or minus 45° and in that said nozzle (220) has an axis so as to be aligned with the axis of said conduit (120) when said robotic vehicle (200) is positioned in said reference position relative to said fixed station (100).

3. Irrigation system according to claim 1, characterized in that said conduit (120) extends from the ground in an upward direction at plus or minus 45° to the vertical, and in that said nozzle (220) has an axis so as to be aligned with the axis of said conduit (120) when said robotic vehicle (200) is positioned in said reference position with respect to said fixed station (100).

4. Irrigation system according to any one of the preceding claims, characterized in that said self-propelled chassis (250) is surrounded by a belt connected to the chassis by a silent block and a sensor triggering an alert signal in the event of relative displacement of said belt with respect to said chassis.

5. Irrigation system according to any one of the preceding claims, characterized in that said robotic vehicle (200) is configured to determine that it is positioned in said reference position and to transmit corresponding information to a remote monitoring infrastructure.

6. Irrigation system according to claim 5, characterized in that said remote supervision infrastructure is configured to remotely control the solenoid valve of the fixed station (100) in response to confirmation of the reference position of the robotic vehicle (200).

7. Irrigation system according to claim 6, characterized in that the opening and closing of the solenoid valve are controlled by a control signal transmitted via a communication network.

8. Irrigation system according to any one of claims 5 to 7, characterized in that the control of the solenoid valve takes into account, in addition to the confirmation of the reference position of the robotic vehicle (200), at least one additional piece of information chosen from the level of filling of the tank, the state of the system and programmed instructions. STATEMENT PURSUANT TO PCT ARTICLE 19.1 The amended set of claims is submitted in response to the international search report and the written opinion of the International Searching Authority. Independent claim 1 has been amended by incorporating, on the one hand, the material of claim 2 as filed and, on the other hand, the features of the non-contact variant described in particular in paragraphs [0124] to [0128] of the application as filed. The amended claim thus relates to a more specifically defined watering system, in which the water tank of the autonomous robotic vehicle is filled by means of a concentrated jet of water which, after leaving the conduit of the fixed water distribution station, passes through a free air zone before entering the vehicle's filling nozzle. The claim further specifies that the means of communication between the fixed station and the robotic vehicle are implemented without direct physical or electrical contact between these two elements. These modifications are directly and unambiguously based on the application as filed. The application describes, in particular, that the reference position is determined such that, during filling, the water stream passes through a gap of free air after leaving the conduit and before entering the tank's filling channel. It also describes a variant in which communication between the fixed station and the robotic vehicle is achieved without direct physical or electrical contact. The modifications clarify the technical distinction between the claimed invention and the cited prior art. The now claimed combination is based on a concentrated jet filling architecture traversing a free air space, combined with communication between the fixed station and the robotic vehicle that requires no direct physical or electrical contact. This combination defines a mechanically decoupled filling architecture, enabling automatic filling while avoiding the stresses, wear, mechanical alignment requirements and reliability issues associated with direct coupling interfaces. The dependent claims have been adapted accordingly and define particular embodiments compatible with the modified independent claim. The amended claims thus define the invention more precisely while remaining based on the content of the international application as filed.

Images