Modular Vineyard Robot Platform for Narrow Rows and Uneven Terrain

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Solution Overview

Problem

Existing agricultural machinery, such as straddle tractors and fruit-picking robots, are unsuitable for narrow vineyards due to bulkiness and inability to handle uneven terrain, and manual grape collection is time-consuming and laborious, especially for whole bunch harvesting required by Champagne specifications.

Innovation Solution

A modular robotic platform with four wheels, a hollow chassis, and protruding masts that can accommodate a container and a robotic arm, allowing simultaneous harvesting and maintenance across vine rows without multiple passes, adapted for narrow vineyards and uneven terrain.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If straddle tractors and storage containers are used for harvesting, then harvesting capacity is improved, but the system becomes bulky and unsuitable for narrow vineyards

Engineering Contradiction:

Improveharvesting capacityVSAvoidsystem bulkiness

Core Design Contradiction:

ProductivityVSVolume of moving object

Solution Approach 1:

The system is divided into separate functional modules: a compact robotic platform for movement and a robotic arm for harvesting, eliminating the need for a bulky integrated straddle tractor-container system. Each component is independently optimized for its specific function while maintaining overall system compactness.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The robotic platform is designed as a universal base that can accommodate different functional loads including robotic arms for harvesting, maintenance equipment, or alternative harvesting mechanisms, allowing the same platform to serve multiple purposes without requiring bulky specialized equipment for each function.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If manual collection of grape bunches is used, then adaptability to narrow vineyards is maintained, but time consumption and labor effort increase significantly

Engineering Contradiction:

Improveadaptability to narrow vineyardsVSAvoidtime consumption

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The robotic arm is equipped with sensors and control systems that enable autonomous identification, approach, grasping, and harvesting of grape bunches without human intervention. The system performs the complete harvesting sequence automatically, eliminating the time-consuming manual operations of bending, cutting, and placing bunches while maintaining adaptability to narrow spaces.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

Manual mechanical operations (hand cutting, carrying) are replaced with an automated robotic arm system that uses controlled mechanical motion, sensors, and actuators to perform harvesting tasks. This substitution dramatically reduces time consumption while preserving the ability to operate in confined vineyard spaces.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Extent of automation

If fruit-picking robots with carts and robotic arms are used, then automation is achieved, but the system becomes unsuitable for uneven terrain and slopes

Engineering Contradiction:

Improveharvesting automationVSAvoidadaptability to uneven terrain

Core Design Contradiction:

Extent of automationVSAdaptability or versatility

Solution Approach 1:

The robotic platform employs dynamic wheel-based locomotion with independent suspension and adaptive terrain response capabilities, allowing it to navigate slopes and uneven ground effectively. The system can adjust its posture and movement patterns in real-time to maintain stability on varying terrain, unlike rigid cart-based systems.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system utilizes variable parameters including adjustable wheel torque, dynamic speed control, and adaptable gripper force to respond to changing terrain conditions. These parameter adjustments enable the robotic arm to maintain operational effectiveness across diverse ground conditions while preserving full automation capabilities.

Inventive Principle:

Principle #35Parameter changes

4Ease of operation

If masts extend above vegetation for visibility and access, then operational visibility is improved, but the platform height increases

Engineering Contradiction:

Improveoperational visibilityVSAvoidplatform height

Core Design Contradiction:

Ease of operationVSLength of moving object

Solution Approach 1:

The masts are strategically positioned and sized to provide visibility and access only where needed for operational purposes. Rather than uniformly increasing platform height throughout, the design concentrates vertical extension in specific locations (mast positions) to achieve visibility requirements while minimizing overall height increase and maintaining compactness in other areas.

Inventive Principle:

Principle #3Local quality

Data Source

PatentEP4674242A1Mobile robot platform, in particular for moving between two rows of vines

Publication Date: 2026.01.07 EXEL INDUSTRIES

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AI summary

The invention relates to a mobile robotic platform (1) comprising four wheels (2), a hollow chassis (3) delimiting a chamber, at least one platform (4) disposed above the chassis (3), said platform (4) delimiting 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 on these receiving regions (41) functional loads attached to said platform (4).