WO2007054997A1

WO2007054997A1 - Apparatus for automatically laying discrete elements on a surface of destination and process employing said apparatus

Info

Publication number: WO2007054997A1
Application number: PCT/IT2006/000786
Authority: WO
Inventors: Savio Landonio; Massimo Lazzari; Fabrizio Mazzetto
Original assignee: Universita Degli Studi Di Milano; Arvatec S.R.L.
Priority date: 2005-11-11
Filing date: 2006-11-10
Publication date: 2007-05-18
Also published as: WO2007054997A8; ITMI20052165A1

Abstract

An apparatus (100) is described for the automatic laying of discrete elements (1) on a surface of destination (200) comprising a laying-down device (2) of the discrete elements (1) that can be mounted to a vehicle, the laying-down device (2) being controllable for the release of a discrete element. The apparatus comprises means (3) for detecting a current position of the discrete element identified by at least two current coordinates and a control unit (4) for the laying-down device such as to acquire a piece of information representative of a target- laying down point on the surface being identified by at least two target coordinates. The control unit (4) is suitable to process the first and second pieces of information so as to control the laying-down device (2) for the release of the discrete element (1) in a target-laying down area including said target-laying down point.

Description

DESCRIPTION

"Apparatus for automatically laying discrete elements on a surface of destination and process employing said apparatus"

The present invention relates to the apparatuses for the automatic laying of discrete elements on a surface of destination.

For example, such apparatuses for automatic laying can be operative machines or transplanting machines that are employed for laying discrete elements of various kind, such as, typically, grapevine cuttings on a plot of ground .

In the last decades automatic transplanting machines have appeared on the market, which are replacing human work of punching holes and laying grapevine cuttings .

Generally, automatic transplanting machines are machines mounted on a farm tractor and dragged by the latter. Usually, conventional transplanting machines consist of a frame upon which a furrow opener and earthing up device; a rotating feeding and dispensing device; and devices for adjusting the laying points are mounted.

A kind of transplanting machine currently in use provides for the presence of laser devices that allow keeping the furrow opener position constant by adjusting the interrow spacing between adjacent vine rows. To such purpose, this transplanting machine comprises a vertical plan laser beam projector placed on the field heads; a sensor sensitive to such a laser beam, mounted on board of the machine, which controls a lateral translation of the whole frame when a deviation from the preset path occurs. Further, this transplanting machine provides for a mechanical synchronizer device which keeps the spacing between a grapevine cutting and the other constant (intra-row spacing) ; the synchronizer motion is generated by the progressive deployment of a steel cable, the free end of which is manually secured to the ground at the head point of the vine row.

However, this kind of transplanting machine shows technical - operative drawbacks. In fact, its use needs to stake out the field before starting the operations in order to define the points where the laser projector will have to be positioned. In addition, working on grounds with accentuated side slopes results quite uncomfortable and the visibility between the laser sensors and the projector is extensively affected by the ground morphology (depressions, bumps, excessive slope) and by adverse weather conditions (mostly fog) . In addition, excessive working times and the commitment of further personnel on the field are needed in order to move with the due precision the projector between a vine row and the other, and to manually secure the steel cable end at the beginning of the vine row. Additionally, it has to be followed a working schedule with a so-called empty return in order to be able to start the laying of the grapevine cuttings, all of them starting from the same linear reference horizon.

To reduce some of these drawbacks, transplanting machines have recently appeared on the market with an adjusting system for the deposition on the ground that is based on a satellite positioning system (for example, the Global Positioning System, GPS) for an aligned laying of the grapevine cuttings along the vine rows. This is achieved by replacing the laser adjustment, but the control on the vine row still occurs by means of the steel cable. In this solution, the plants are lay along the row, starting from a point which has to be selected by a worker at the beginning of each passage, by planting a stake. The presence of depressions on the ground further makes the laying occur in an uneven manner all the same. Finally, the presence of any obstacle forces to interrupt the laying operations and to resume them downstream of the same obstacle, replanting the stake.

The object of the present invention is to provide an apparatus for the automatic laying, which is suitable to reduce the above-mentioned drawbacks, increasing the achievable level of precision in the laying of discrete elements, and furthermore reducing the working times and the labour which are necessary.

Such an object is achieved by the apparatus as generally defined and characterised in claim 1.

Preferred embodiments of said apparatus are defined by the depending claims 2-24.

It is also an object of the present invention a process for laying discrete elements as defined in claim 25 and preferred embodiments thereof, such as defined in the depending claims 26 to 36.

It is also an object of the present invention a computer program as defined in claim 37 and preferred embodiment thereof, such as defined in the depending claim 38.

It is an also object of the present invention a control unit as defined in claim 39.

The invention will be more clearly understood from the following detailed description of an embodiment thereof, which is given by way of non-limiting example, with reference to the accompanying drawings, in which:

- Fig. 1 shows a schematic view of an example of an apparatus according to the invention; - Fig. 2 shows a schematic view of said apparatus mounted on a vehicle,-

- Fig. 3 shows an example of the circuit scheme of the apparatus according to the invention, and

- Figs. 4 and 5 show first and second examples of positioning of discrete elements on a surface of destination achievable by employing the apparatus and laying process according to the invention, respectively.

Referring to Fig. 1 and 2, it is now described an example of apparatus 100 for the automatic laying of discrete elements 1 on a surface of destination 200 such as, preferably, a plot of farm ground having an arbitrary morphology, therefore not necessarily flat. By the term "discrete element" it is meant an element of both a biological (for example, scions, juvenile plants, seeds or grapevine cuttings) and "physical" nature (for example, stakes which are necessary to mark points on the ground) .

In greater detail, the apparatus 100 for the automatic laying comprises a laying-down device 2 for the discrete elements 1 mountable on a vehicle 300, preferably a farm vehicle such a conventional tractor. Furthermore, the apparatus 100 is provided with detecting means 3 of a first piece of information Il concerning a current position CP of one of the discrete elements to be lay down (engaged with the laying-down device 2) , identified by at least two first current coordinates XED and Y_ED. The apparatus 100 is also provided with a control unit 4 of the laying-down device 2, preferably a computer, so as to acquire a second piece of information 12 representing a target laying point PT on the surface 200 identified, in turn, by at least two second target coordinates X_T and Y_τ.

In the example of the invention, the laying-down device 2 comprises, in detail, a laying-down member 5 provided with means for the grasping and release 6 of said discrete elements 1. The laying-down member 5 comprises, in particular, a plurality of arms (for example, five arms) ba, bb, be, bd, and be, which are radially oriented relative to a centre placed on a first reference axis A. The first reference axis A is essentially orthogonal with respect to an advancing direction D_AV of the vehicle 300 on which the apparatus 100 can be mounted. The arms ba-be are such that they can rotate about the first reference axis A.

Furthermore, the laying-down device 2 is provided with a motor M that is mechanically coupled to the rotating arms ba-be in a manner such to cause the rotation of the latter. The mechanical coupling between motor M and arms ba-be is achieved, for example, by employing drive wheels 17, 18, and 19, which are operated by relative drive belts 16' and 16. The drive wheel 18 has the first reference axis A as the rotation axis. The motor M can be, for example, of an electric or, alternatively, even of a hydraulic or pneumatic type.

The above-mentioned grasping and releasing means 6 are implemented in a plurality of grasping/release ends, all linked to a corresponding arm ba-be. Each of such grasping/release ends 6 comprises, for example, a respective clamp 7 which is openable and reclosable for the grasping and release of the discrete element 1, and controllable by the control unit 4. According to an exemplary embodiment, the opening and reclosure of each clamp 7 is activated by a (conventional per se) mechanism that is controlled by an eccentric shaft (not shown) placed on the wheel 18, which is suitable to cause the opening of one of the clamps 7 at the area where it is possible to lay down the discrete element 1.

Referring to one of arms with which the laying down member 5 (for example, the arm ba) is provided, it can move to a first angular position PAl (Fig. 1) upon rotation for grasping the discrete element 1, and a second angular position PA2 (adopted in Fig. 1 by arm bd) for the release thereof on the surface of destination 200. According to a further variant embodiment of the invention, the grasping and releasing means 6 can comprise a disc suitable to rotate around an axis orthogonal to the forward direction of the vehicle and provided with holes through which it can release the discrete elements, for example juvenile plants, to be lay down on the plot of ground. Further, according to another embodiment of the invention, the grasping and releasing means 6 can comprise, instead of the clamps 7, suitable depression pneumatic-type grasping devices known in the art, which are suitable for activating the discrete element laying down, typically a seed, when a depression is lacking.

The laying-down device 2 further comprises control means F mechanically coupled to the motor M, and which are also controllable trough the control unit 4. Preferably, the control means F comprise a brake to interrupt the rotation of the arms ba-be in case the motor M is of the fixed speed kind or, alternatively, comprise a speed reducer in case the motor M is of a variable speed kind. According to a further alternative embodiment, the control means F can advantageously comprise a reducer-brake combination, in order to reduce and then interrupt said rotation. Advantageously, the laying down member 5 is translatable along a direction which is parallel to the first reference axis A to allow the clamps 7 mounted on the arms ba-be to move to a position related to one of said target coordinates. To such purpose, the wheels 17, 18, and 19, in combination with the arms ba-bd, are mounted to a support frame 8 provided with a slide element 8' being slidingly coupled to a guide 19, preferably integral with the vehicle 300, which is suitable to define a sliding direction parallel to the first reference axis A.

As will be better understood hereinafter, it has to be observed that, advantageously for the implementation of the invention example, the apparatus 100 is designed in such a way that a peripheral speed of the laying-down member V_POD associated with the rotation of the grasping and releasing means 6, is greater than an average advancing speed of the vehicle V_MAV

As stated above, the control unit 4 can be a computer (i.e. an electronic processor) of a conventional kind comprising, inter alia, a suitable processing unit, a mass memory, a working memory and suitable user interfaces. Advantageously, such a computer shows an interactive screen (touch screen) to avoid the presence of a keyboard for those operations providing the entry or editing of data in a computer memory.

The control unit 4 is suitable to process the first piece of information Il and the second piece of information 12 in order to control the laying down-device for the release of a discrete element 1 in a target- laying down area (ZPT, Pig. 1) including the target- laying point (PT, in Fig. 1) .

The target-laying down area ZPT is an area having preset dimensions, extending around the target-laying down point PT and representing an area in which the discrete element 1 results correctly lay, even if the point in which it is lay down does not precisely match the target-laying down point PT. It is to be noted, particularly, that the target-laying-down area preferably is a circular-shaped area centred on the target-laying down point PT and shows preset dimensions related to at least one parameter, for example, a radius of the circular area. The dimensions of the target-laying down area ZPT are stored in the control unit 4, and are used by the latter in order to process the first and second pieces of information. In the example of the invention, the radius of the target-laying down area is related to the advancing speed of the vehicle.

The control unit 4 is such as to send suitable control signals to the laying-down device 2 in order to allow the rotation of the grasping and releasing means 6 in such a way that one of its arms moves to the second angular position PA2. Furthermore, the control unit 4 is such as to generate signals to lock/unlock the control means F while the vehicle 300 is moving forward. In addition, this control unit is able to drive the release of the discrete element 1 (opening of the clamp) when this element, engaged with the grasping and releasing means 6, is located at the target-laying area ZPT.

As regards the abovementioned detection means 3, they are, preferably, embodied by a receiver apparatus intended to operate in a satellite positioning system such as, for example, the satellite positioning system GPS (by the English term "Global Positioning System") , known per se, or in other equivalent satellite positioning systems. Particularly, the GPS system employs the WGS84 ellipsoid as the geodetic reference system.

According to the described example, the GPS receiver apparatus 3 comprises an antenna 9, mounted on the support frame 8, adapted to receive radiosignals SR incoming by the exterior (i.e., from satellites) . The GPS receiver 3 is further provided with a processing block electrically coupled to the antenna 9, the function of which is to process electrical signals provided by the antenna 9, corresponding to the radiosignals SR, in order to provide the first piece of information Il indicative of the current position (X_ED, Y_ED) of the discrete element

I to be lay down.

Advantageously, this processing block of the GPS receiver 3 is integrated into the control unit 4 and provided with a first program module MPl including suitable codes to process the electrical signals SE and provide the first piece of information II.

It should be noted that the control unit 4 is also provided with a second program module MP2, operatively connected to the first program module MPl, and including program codes such as to process the first and second pieces of information and generate the control signals for the laying-down device 2. The control unit 4 is advantageously mounted to the vehicle 300 and is connected to the laying-down device 2 by means of suitable wiring. Preferably, the GPS receiver 3 is of such a kind as to provide the first piece of information

II with a subcentimetrical accuracy of Real Time Kinematic, RTK. The GPS apparatus 3 preferably has, furthermore, a data acquisition frequency higher than 10 Hz in case where the vehicle 300 dragging the apparatus 100 has an instantaneous advancing speed above 0.75 m/s (about 2.7 Km/h) . When the vehicle travels with a speed with a value less than 1 m/s, the data acquisition frequency can be less than 10 Hz.

It should be noted, in the example described herein, that the acquisition of the first piece of information Il in two consecutive moments allows assessing the average advancing speed V_AV of the vehicle 300.

The movement of the support frame 8 along the guide 19 can be controlled by the control unit 4 based on the first Il and the second 12 piece of information. According to a particular example, this movement is achieved, also in this case, due to a further motor (not shown in the Figures) being used, which is intended to supply the power required for the translation through, for example, an hydraulic jack. It should be further noted that, advantageously, the sliding of the support 8 within the guide 19 is allowed equally both to the right and to the left relative to the centre (for example, for a guide of 80 cm, 40 cm to the right and 40 cm to the left) .

The laying apparatus 100 can be preferably combined with means for the correction of the first piece of information as a function of the errors, known per se, of the satellite positioning system GPS. Particularly, the laying apparatus 100 further comprises an auxiliary receiver GPS provided with a respective auxiliary antenna 10 located in a fixed point of the surface of destination identified by respective further geographical coordinates Xp, Y_F. The auxiliary receiver and the respective antenna 10 are similar to the GPS apparatus 3 and to the antenna 9 described above. The auxiliary antenna 10 is radio connected to the GPS receiver 3 , which acts as a base station and radio transmits the data (also related to a piece of information IF identificative of the fixed point X_F, Y_F) for the differential correction RTK, data which are used by the first program module MPl. Is should be noted that, on the basis of said information IF and of the further coordinates X_F, Y_F, the control unit 4 is able to correct the first piece of information II, which could otherwise suffer from errors due to the satellite positioning system.

Advantageously, the apparatus 100 comprises a dispenser 12 in which a plurality of discrete elements is placed which can be engaged time by time with the clamps 7. The loading of each clamp 7 can occur manually of automatically.

For completeness of description and with reference to Fig. 3, an example of the electrical power circuit and control of the motor M and of the brake F will be described. In this Figure, the components described above are indicated with the same reference numbers. The control unit 4 is such as to provide suitable control signals to a first switch INTl and to a second switch INT2. The brake F is powered by a battery BATR through a conductive branch 20 connected to the first switch INTl. The control unit 4 is connected to the conductive branch 20 so as to be suitably powered. A further branch 21 of the battery BATR is connected to a first end Tl of a switch commutator SWT having a first output end Ol and a second output end 02. The first output end Ol is connected to the motor M in order to energize the battery BATR. The second output end 02 is connected to the second switch INT2 having a second end T2 connected to the motor M. The switch commutator SWT is able to switch between two different operative states: a first operative state in which the first end Tl is connected to the first output end 01, and a second operative state in which the second end T2 is connected to the second output end 02. The switching of the switch commutator SWT occurs by virtue of the interaction with a limit switch device LS indicated in Figure 1.

The first switch INTl can turn to an open state and a closed state in which the brake F is disconnected or, respectively, connected from the/to the battery BATR. The second switch INT2 can turn to an open state and a closed state in which the second end T2 is disconnected/connected from the/to the second output end 02 of the switch commutator SWT.

This control power supply circuit can be implemented with known electrical, electronic and electro-mechanical components, and it is mountable to the support frame 8 and/or on the vehicle 300.

It will be now described an example of process for the automatic laying of discrete elements on a surface of destination, which employs the apparatus 100 described above .

With reference also to Fig. 4, the process provides a preliminary step in which the arrangement of a plurality of target-laying down points PTl, ..., PT, „., PTN is provided on the surface 200 such as a plot of ground, according to the plot owner's needs.

In this example, the arrangement of the discrete elements is provided on linear deposition lines (rows) , parallel and equidistant from each other. Furthermore, on each of the deposition lines the discrete elements are distributed such as to be equally spaced from each other. Particularly, in this example, a squaring of the cultivable plot of ground, previously topographically detected, is required in order to define starting and ending points of the rows definable in the planting area.

It should be noted that further geometrical arrangements, other than those shown herein, such as, for example, an arrangement along curved deposition lines and, particularly, circular or ellipsoidal lines, such as illustrated in Figure 5, can be provided. Furthermore, the surface 200 can comprise a region 400 in which the planting of discrete elements may not be possible due to the presence, for example, of an obstacle.

Turning to the example of the invention, the user interacts with the screen of the control unit 4 to input the necessary information in the computer to form the arrangement of the discrete elements on the plot 200. This information comprises, for example: the starting point of the first deposition line; the ending point of the first row; the spacing between the discrete elements belonging to the same deposition line (intra-row spacing) ; the spacing between two adjacent deposition lines (interrow spacing) . The starting point and the ending point of the deposition line are advantageously acquired through the information related to the current position of the laying-down device 2 moving the vehicle, on which the device is mounted, respectively on said starting point and said ending point. Advantageously, the arrangement processed by the control unit 4 is stored in the memory thereof, in order to be employed later for other operations or treatments on the plot 200. After this preliminary step, the process provides a step to engage, i.e. secure, a discrete element 1 (for example, a grapevine cutting) with the clamp 7 when the corresponding arm ba is placed in the angular grasping position PAl (shown in Figure 1) . This operation can be carried out manually either by a worker who withdraws the grapevine cutting by the dispenser 12 or automatically by suitable mechanisms driven by the control unit 4. In this step it is provided that the control unit 4 keeps the motor M steady acting the brake F thereupon. During this step, the second switch INT2 is opened and the switch commutator SWT is in a state in which the first end Tl is connected to the first output end 02. Thereby, the motor M is not powered by the battery BATR. In addition, the first switch INTl is closed in such a way that the branch 20 is connected to the brake F which will act upon the relative rotor of the motor M blocking its inertial-type rotation.

Then, the process comprises an acquisition step in the control unit 4 of the second piece of information 12 that is representative of the target-laying down point PT identified by at least the two coordinates X_E0, Y_ED-

In addition, the control unit 4 determines, as a function of the advancing speed of the vehicle, the value of the radius of the circular target-laying area ZPT, which essentially identifies a valid area into which the discrete element can be deposited with acceptable accuracy.

As a consequence of this processing, on the screen of the control unit 4, a circle corresponding to the target-laying down area is advantageously displayed centred in the target-laying down point PT with coordinates XT, YT-

Then, the process comprises a step of acquiring the first piece of information Il representative of the current position CP of the antenna 9 on the surface, identified by at least two first coordinates Xi, Y₃.. The control unit 4, starting from these first coordinates assesses the current coordinates Xm, Y_ED indicative of the grasping position PAl in which the discrete element to be deposited is located. The control unit 4 generates the coordinates X-_ED, Y_ED by taking into account that the antenna 9 is spaced by the discrete element and, particularly, takes into account a first and a second offset spacing. The first offset spacing is the spacing between the antenna 9 and the effective position of the discrete element 1 in the position PAl, assessed along the deposition line. In addition, the control unit 4, in order to determine the coordinates X-ED, Y_KD/ also employs a second offset spacing. Such second offset spacing is the existing spacing between the antenna 9 and the discrete element in the position PAl assessed in a vertical direction to the deposition line. For the computing of this second offset spacing, an inclinometer is provided 15 (Figures 1 and 2) , which gives the control unit 4 the angular slope taken by the support frame 8 due to unevenness of the plot of land 200.

Advantageously, the control unit 4 processes the coordinates XE_D/ Y_ED such as to display a symbol on the screen, for example a cross, corresponding to the discrete element when this is located in the grasping angular position PAl. The computing of the coordinates X_ED# Y_ED and, accordingly, the visualization on the screen of the cross is updated with a frequency equal to the data acquisition frequency of the GPS-RTK receiver 3 electrically connected to the antenna 9.

In this step in which the motor M is blocked, the control unit 4 acts upon the support frame 8 so as to cause the latter to translate along the respective guide in order to achieve a substantial alignment of the laying-down device 2 (and of the antenna 9) to the deposition line, advantageously displayed on the screen of the control unit 4 together with the circles corresponding to the target laying down areas. This corresponds to the fact that one of the two coordinates of the discrete element (for example, the coordinate XED) is located in a direction intersecting the target-laying area ZPT and therefore, ideally, it does not need to be further adjusted.

After this step, in which the vehicle 300 was steady, the latter is caused to move along the forward direction D_AV. During the forward movement, the control unit 4 assesses if the other coordinate which identifies the position of the discrete element (for example, the coordinate Y_ED) falls within the target-laying area ZPT (circle on the screen) . When this condition occurs, the rotation of the arm ba is allowed that moves to the angular position indicated in the Figures with PA2, and, simultaneously, the discrete element 1 is delivered in the plot 200. The peripheral rotation speed of the arm ba is high enough relative to the advancing speed of the vehicle 300 so as to ensure that when the position PA2 is assumed, the discrete element 1 is located within the respective target-laying area ZPT.

In greater detail, this release operation involves that the control unit 4 unlocks the motor M, releasing the brake F, and operates the rotation of the same motor. During this step, the switch INTl is opened (on the basis of an apposite signal generated by the control unit 4) such as the brake F is no more electrically connected to the battery BATR and therefore cannot act on the rotor of the motor M, blocking the rotation thereof. In addition, during this step, the switch INT2 is closed and the switch commutator SWT is in a state in which the first end Tl is connected to the output end 02 in such a way that the motor M is connected to the battery BATR so as to allow the latter to be operated.

During the rotation of the depositing member 5, and accordingly of the arm ba the clamp 7 of which is closed around the discrete element to be deposited, the same arm, engaging with the eccentric shaft integral with the depositing member 5, drives the mechanism which allows the opening of the clamp 7 and the subsequent release and deposition of the discrete element 1 on the surface of destination 200 at the target-laying down area. It should be considered that in this step, on the screen of the control unit, the cross representative of the current position CP falls within the circle corresponding to said target-laying down area.

After this step, the limit switch device LS, equipped with and internal spring, drives the switch commutator SWT in such a way that the first end Tl is connected to the first output end Ol thus consequently opening the branch of electrical circuit which connected, during the preceding process step, the motor M to the battery BATR. It follows that the motor M results to be directly connected to the battery BATR, but it does not result to be any longer controlled by the control unit 4. The motor M proceeds with its own rotation in order to allow the next discrete element to be loaded in the clamp 7 of the subsequent arm of the laying down member and in order to bring said element to the release position.

In the following step, the arm be containing the next discrete element to be deposited, reaches the limit switch device LS and, by engaging with the same, it actuates the switch commutator SWT so as to open the direct electrical connection between the motor M and the battery BATR. The switch INT2 is closed and, therefore, the control of the motor M is relied back to the control unit 4. The switch INTl closes thus operating the brake F on the motor M which, advantageously, is locked to prevent the laying-down member and, particularly, the arm, from rotating further.

At this stage, the deposition process described above will be resumed by carrying out iteratively the steps leading to the deposition of the discrete element 1, time to time referring to successive target-laying down points.

The process steps described herein are carried out under the control of the control unit 4, in the memory of which the second program module MP2 resides, which comprises codes for the acquisition and processing of the plurality of information that is required for the implementation of the automatic laying process and, particularly, for the generation of the control signals of the brake F, switches INTl and INT2, as well as the assessment of the coordinates X_ED, Y_ED of the discrete element in the release angular position PA2 fall into the target-laying down area.

It should be further noted that the peripheral rotation speed V_POD of the arms ba-be is greater than that of the product of the average advancing speed of the vehicle V_MAV for a predetermined factor not less than 1. Considering, for example, V_MAV = 0.5 [m/s] as the average advancing speed of the vehicle, the following relationship, for example, can be considered: V_POD > VMAV 1.2. In addition, the advancing speed of the vehicle V_MAV results to be proportional to the data acquisition frequency FRQ of said detection means for a suitable proportionality factor, for example V_MAV = FRQ 0.075 [m/s] .

As regards the target-laying down area ZPT within which the current position is required to fall, the control unit 4 is able to compute the radius of the circle which, in the example described herein, represents such an area. Specifically, considering an average advancing speed of the vehicle of 0.5 [m/s] , such a radius has a value of 0.2 m.

Alternatively to the example of the invention described with reference to Fig. 1 and 2, a further embodiment of the apparatus 100 can provide two or three antennas mounted to the support frame 8, each of which is operatively linked to a corresponding GPS-RTK receiver (or to a single receiver being able to manage all the signals) , so as to control and adjust, respectively, the positioning of the laying-down device 2, the correction of the slope of the frame 8 (making unnecessary the employment of the inclinometer 15) and the aligning of the laying-down device 2 relative to the deposition line.

The laying apparatus and process described herein involve, as compared with the prior art, a remarkable improvement in terms of achievable working capacity.

Particularly, the complete use of the possibilities offered by the satellite positioning systems, which is featured by the use of the piece of information associated to both the coordinates detected, allows achieving high accuracy results, avoiding employing a rotation cable for the arms, which makes the employment of some conventional apparatuses unfavourable. Another advantage, associated to a particular embodiment of the invention, is related to the employment of the brake F in order to lock and unlock the motor M to an even speed, which allows to properly control the rotation of the arms ba-be, thus eliminating inaccuracies in the laying which are found with the current motors M is of a variable speed type.

In addition, with reference, for example, to the conventional solutions employing a laser, the solution of the invention needs notable low operative times for working site.

In addition, for example with respect to the conventional systems, the apparatus provided herein is easily installable on existing machinery, without heavy carpentry interventions .

Advantageously, the apparatus described herein allows the highest flexibility in the implementation of the laying down paths.

In fact, tracks on adjacent rows are not necessary to be done in a close sequence and, when obstacles are encountered, some paths can be temporarily skipped (and resumed in a later moment) without the risk to lose the regularity in the plating density being automatically generated by the program on board of the vehicle (tractor) , on the basis of the preset settings by the user. Furthermore, as stated above, also non rectilinear paths can be followed, and of a different geometry (circular, ellipsoidal arrangement) .

A better intra-row and interrow positioning accuracy ensures visually more regular plating density, with sensible advantages also in terms of landscape. Alternatively, the vineyards can be lay according to a design which provides for a random pattern which, for some reason, is better adapted to the environment.

Again, the possibility to use the archive of the laying position of the single grapevine cuttings in order to define the next laying position of the individual supporting stacks or, more generally, in order to carry out cultivating operations which prospectively can consider the single plant as a basic element (precision viticulture) .

Claims

1. An apparatus (100) for automatically laying discrete elements (1) on a surface of destination (200) comprising: a laying-down device (2) mountable to a vehicle (300) and controllable for the grasping and releasing the discrete elements on the surface (200) ; detection means (3) of a first piece of information representative of a current position (PAl) of a discrete element engaged with the laying-down device (2) , such current position being identified by at least two first current coordinates, characterized in that it further comprises a control unit (4) for the laying-down device such as to acquire a second piece of information representative of a preset target-laying down point (PT) on the surface identified by at least two second target coordinates, the control unit (4) being suitable to process the first and second pieces of information such as to control the laying-down device (2) for releasing the discrete element (1) in a target-laying down area (ZPT) including said target-laying down point (PT) .

2. The apparatus (100) according to claim 1, wherein said laying-down device (2) is movable through signals sent by the control unit (4) and comprises: a depositing member (5) being provided with means for grasping and releasing (6) at least one of said discrete elements (1) , said the grasping and releasing means (6) being such as to be rotated around a first reference axis (A) and being such as to move to a first angular position (PAl) for grasping the discrete element and a second angular position (PA2) for releasing the discrete element on the surface of destination; a motor (M) being mechanically coupled to the depositing member (5) for causing said grasping and releasing means to rotate under the control of said unit .

3. The apparatus (100) according to claim 2, further comprising control means (F) being mechanically connected to said motor (M) and controllable through the control unit (4) , said control unit being such as to allow the rotation of the grasping and releasing means (6) to move to the second angular position (PA2) , reduce and/or interrupt said rotation during the forward movement of the vehicle actuating the control means (F) and drive the release of the discrete element (1) when the discrete element is at the target-laying down area (ZPT) .

4. The apparatus (100) according to claim 2, wherein the depositing member (5) is translatable in a direction parallel to the first reference axis in order to allow the grasping and releasing means (6) to move to a position relative to one of said second target coordinates .

5. The apparatus (100) according to claim 2, being configured such that a peripheral speed related to the rotation of the grasping and releasing means (6) in order to turn from the first (PAl) to the second (PA2) angular position is higher than an instantaneous advancing speed of the vehicle.

6. The apparatus (100) according to claim 2, wherein the grasping and releasing means (6) comprise at least one arm (ba-be) that is radially located relative to the first reference axis (A) and having a grasping/releasing end (7) of said discrete element (1) controllable by the control unit, said at least one arm (ba-be) being such as to rotate around the first reference axis (A) essentially orthogonal to a forward direction of the vehicle (D_Av) during the running of the apparatus (100) .

7. The apparatus (100) according to claim 6, wherein the grasping/release end (7) is a clamp that can be opened and closed in order to grasp and release the discrete element.

8. The apparatus according to claim 1, wherein the detection means (3) of a radio-type comprise: an antenna (9) to receive radiosignals (SR) from the outside; a radio receiver connected to the antenna (9) to provide electrical signals corresponding to the signals received (SR) from the outside; a first program module (MPl) operatively linked to the control unit (4) suitable to process said electrical signals (SE) to provide the first piece of information starting from the detection of current coordinates of said antenna and on the basis of a spacing existing between the antenna and the discrete element engaged with the grasping and releasing means .

9. The apparatus (100) according to claim 8, wherein the control unit (4) comprises a second program module (MP2) operatively linked to the first module (MPl) and including program codes so as to process the first and second pieces of information and generate control signals of the laying-down device (2) .

10. The apparatus (100) according to claim 9, wherein the control unit (4) is a processor mountable on the vehicle in which said first (MPl) and second (MP2) program modules reside.

11. The apparatus (100) according to claim 10, wherein the processor is of type with an interactive screen (touch screen) .

12. The apparatus (100) according to claim 8, wherein said detection means (3) are suitable to operate in a satellite positioning system such as, for example, the GPS positioning system (Global Positioning System) .

13. The apparatus (100) according to claim 12, wherein the detection means (3) provide the first piece of information (II) with sub-centimetric accuracy of a Real Time Kinematic, RTK type, the detection means (2) having a data acquisition frequency preferably not less than 10 Hz.

14. The apparatus (100) according to any preceding claim, further comprising a further receiver being associated to a respective further antenna (10) located in a fixed point of the surface of destination that is identified by respective at least two further geographic coordinates, the further receiver being radioconnected to said receiver and to the first program module (MPl) to provide an information identifying the fixed point in preset time moments, on the base of said information and of the at least two further coordinates the control unit (4) being able to carry out a correction of the first piece of information (II) .

15. The apparatus (100) according to claim 14, wherein the fixed point in which the further receiver is located is a peripheral point of the surface of destination.

16. The apparatus (100) according to claim 2, wherein the control means (F) comprise a speed reducer and/or a braking system intended to reduce and/or interrupt the rotation of the means for grasping and releasing (6) the discrete element (1) .

17. The apparatus (100) according to claim 4 or 6, wherein the laying-down device (2) comprises a slide support (8) for the depositing member (5) that is slidingly coupled to a guide (8'), said guide defining a sliding direction parallel to the first reference axis (A) , said first reference axis (A) being substantially parallel to the surface of destination (200) .

18. The apparatus (100) according to claim 17, wherein the movement of the slide support is controllable by the control unit (4) based on the first and second pieces of information.

19. The apparatus (100) according to claim 2, wherein the motor (M) is of a type belonging to the group: electrical, hydraulic, pneumatic motor.

20. The apparatus (100) according to claim 1, wherein the vehicle (300) to which the laying-down device can be mounted is a tractor.

21. The apparatus (100) according to at least any of the preceding claims, in which the discrete element (1) is of a biological nature, for example belonging to the groups: scions, juvenile plants, seeds, grapevine cuttings .

22. The apparatus (100) according to at least any of the preceding claims 1 to 20, wherein the discrete element is of a physical nature, for example a stack.

23. The apparatus according to claim 1, wherein the release area (ZPT) presents preset dimensions that are associated to at least one parameter stored in said control unit for the processing of the first and second pieces of information.

24. The apparatus according to claim 23, wherein the release area is substantially circular, being centred in said target-laying down point (PT) and said at least one parameter is a radius related to the advancing speed of said vehicle .

25. A process for automatically laying discrete elements (1) on a surface of destination (200) by means of a laying-down device (2) mountable on a vehicle in motion, the process comprising the steps of: a) acquiring in a control unit (4) a first piece of information representative of a current position of a discrete element being engaged with the laying-down device (2) identified by at least two first current coordinates ; b) acquiring in the control unit (4) a second piece of information representative of a target-laying down point (PT) on the surface of destination (200) identified by at least two second coordinates; c) controlling, through said unit (4) , the laying- down device (2) as a function of the first (II) and second (12) pieces of information for releasing the discrete element (1) in a target-laying down area having preset dimensions and including said target-laying down point (PT) .

26. The process according to claim 25, wherein the target-laying down area presents preset dimensions that are associated to at least one parameter stored in said control unit for the processing of the first and second pieces of information.

27. The process according to claim 26, wherein the target-laying down area is substantially circular, being centred in said target-laying down point (PT) and said at least one parameter is a radius related to the advancing speed of said vehicle.

28. The process according to claim 25, wherein step c) comprises a step of processing the first and second pieces of information to assess whether the current position (CP) falls within the target-laying down area.

29. The process according to claim 25, wherein the laying-down device (2) comprises a depositing member (5) being provided with means for grasping and releasing (6) the discrete elements, the depositing member being rotatable around a first reference axis (A) in order to move to first and second angular positions, respectively, for grasping and releasing the discrete elements; said first reference axis being substantially orthogonal to the forward direction of the vehicle.

30. The process according to claim 29, wherein the depositing member (5) is translatable in a direction parallel to the first reference axis (a) in order to allow the grasping and releasing means (6) to move to a position related to one of said second target coordinates .

31. The process according to claim 30, wherein during the movement of the vehicle in the forward direction, the controlling step includes the steps of: engaging a discrete element with said grasping and releasing means located in the angular grasping position (PAl) ; translating said grasping and releasing means (6) in such a way that one of said first coordinates of the discrete element being engaged with said means falls within said target-laying down area; rotating the grasping and releasing means to be moved to the angular release position (PA2) ; blocking the rotation of the grasping and releasing means in the angular release position (PA2) ; sending controls to the laying-down device so as to achieve the release of the discrete element when also the other of said first coordinates falls within the target-laying down area;

- resuming the rotation of the grasping means in order to allow the reaching of the angular release position by a further discrete element engaged with said grasping and releasing means .

32. The process according to claim 31, wherein the step of blocking ad resuming the rotation of the laying- down device comprises sending controls to control means of a motor of the laying-down device.

33. The process according to claim 31, wherein a peripheral rotation speed of the grasping and releasing means is higher than the product of an advancing speed of the vehicle for a predetermined factor not less than 1.

34. The process according to claim 33, wherein the step of acquiring the first piece of information representative of a current position includes the employment of detection means suitable to operate in a satellite positioning system.

35. The process according to claim 34, wherein the advancing speed of the vehicle is proportional to the acquisition frequency of said detection means.

36. The process according to at least any preceding claim 25 to 35, in which the discrete element (1) is of a biological nature, for example belonging to the groups: scions, juvenile plants, seeds, grapevine cuttings.

37. A processor program loadable in a memory of a control unit of a laying-down device for discrete elements in order to carry out the process steps of at least one of the claims 25 to 36.

38. The processor program according to claim 37, comprising codes for the acquisition of a plurality of pieces of information representative of corresponding target-laying down points, distributed second curved or rectilinear lines .

39. A control unit (4) for a laying-down device (2) of discrete elements (1) being implemented such as to act as the control unit defined by the claims 1 to 24.