Method, system and robot for autonomous navigation thereof between two rows of plants

• Main Authors: Saiz Rubio, Verónica, Rovira Mas, Francisco, Cuenca Cuenca, Andrés
• Format: Patent
• Language: English
• Published: 12.09.2023
• Subjects: AGRICULTURE; ANIMAL HUSBANDRY; CALCULATING; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COUNTING; FISHING; FORESTRY; HUMAN NECESSITIES; HUNTING; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES ORIMPLEMENTS, IN GENERAL; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SOIL WORKING IN AGRICULTURE OR FORESTRY; TRANSPORTING; TRAPPING; VEHICLES IN GENERAL

A method, system and robot, wherein the robot includes two or more sensing devices, sensor A and sensor B, mounted thereon and moves forward along an axis parallel to the rows of plants, being autonomously steered by exerting angular corrections to place the robot as close as possible to the centerline between the rows of plants, wherein the method and system includes the following:(ii) dividing a two-dimensional grid of square cells into groups of cells;(iii) obtaining data points using sensor A and sensor B;(vii) moving the robot:(a) by turning right; or(b) by turning left; or(c) forward without turning,depending on whether each group of cells is calculated as low-activated, high-activated or not activated using the data points.