(19)
(11) EP 3 945 393 A8

(12) CORRECTED EUROPEAN PATENT APPLICATION
Note: Bibliography reflects the latest situation

(15) Correction information:
Corrected version no 1 (W1 A1)

(48) Corrigendum issued on:
20.04.2022 Bulletin 2022/16

(43) Date of publication:
02.02.2022 Bulletin 2022/05

(21) Application number: 20382716.7

(22) Date of filing: 31.07.2020
(51) International Patent Classification (IPC): 
G05D 1/02(2020.01)
(52) Cooperative Patent Classification (CPC):
G05D 1/0255; G05D 1/0257; G05D 2201/0201
(84) Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated Extension States:
BA ME
Designated Validation States:
KH MA MD TN

(71) Applicant: Universitat Politècnica de València
46022 Valencia (ES)

(72) Inventors:
  • Rovira Más, Francisco
    46022 Valencia (ES)
  • Cuenca Cuenca, Andrés
    46022 Valencia (ES)
  • Sáiz Rubio, Verónica
    46022 Valencia (ES)

(74) Representative: Manuel Illescas y Asociados, S.L. 
C/ Príncipe de Vergara 197, Oficina 1°A
28002 Madrid
28002 Madrid (ES)

   


(54) METHOD, SYSTEM AND ROBOT FOR AUTONOMOUS NAVIGATION THEREOF BETWEEN TWO ROWS OF PLANTS


(57) A method, system and robot for autonomous navigation thereof between two rows of plants, wherein said robot comprises 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 each sensing device is a device which detects electromagnetic waves or detects sound waves,
and wherein said method and said system comprises the following:
(i) defining a two-dimensional grid of square cells in said plane;
(ii) dividing the two-dimensional grid of square cells into IG•JG groups of cells;
(iii) obtaining a maximum of k data points using sensor A and a maximum of m data points using sensor B;
(iv) converting each data point into a discretized data point;
(v) calculating a fusion function value for each cell (h,v) of said two-dimensional grid;
(vi) calculating for each group of cells (i,j) (omij):
(a) the cumulative total of fusion function values, CUMij(h); and
(b) the sum of all cumulative totals of fusion function values, SUMij;
wherein when:
- SUMij ≥ ||0.4•OM|| said group of cells is classified as high-activated; and
- SUMij ≥ ||0.2•OM|| and < ||0.4•OM|| said sub-volume is classified as low-activated,

wherein OM is the maximum SUMij value determined for any group of cells (i,j) (omij);
(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 low-activated, high-activated or not activated.