AGRICULTURE AND RELATIVE FARM VEHICLE"

Cross-Reference to Related Applications

This patent application is related to Italian Patent Application No . 102021000023096 fi led on September 7 , 2021 , the entire disclosure of which is incorporated herein by reference .

Field of Technology

The invention relates to a system for lifting a processing device for a precision agricultural vehicle and to a relative agricultural vehicle .

In particular, the invention finds advantageous , but not exclusive application in a tracked agricultural rover for row agricultural operations , to which the following description will make explicit reference without for this reason losing in generality .

Context of the Invention

Agricultural vehicles are known, which are led by a driver and suitable for carrying out various kinds of agricultural operations .

The field of precision agriculture , that is the branch of agriculture that makes use of modern equipment and is aimed at carrying out agronomic interventions that take into account actual crop needs and biochemical and physical characteristics of plants and, i f necessary, soil , experienced, in recent years , the development of tractor machines ( commonly called tractors ) for navigating through rows ( e . g . , of an orchard) , which are small compared to the types used for agriculture in the open field . Such machines are usually driven by an operator, who leads the tractor and its trailer through the rows of an orchard . Generally speaking, a normal orchard tractor, for irrigation/ spraying of fruit plants , requires a wheeled trailer ( including a tank) containing a spraying fluid, for example a plant protection product , and a respective irrigation/ spraying system connected to the trai ler . The total length of the articulated vehicle and its trailer (which is also equipped with a spraying system) is well over six meters long, even for smaller tractors . Thi s length inevitably leads to complexity in the driving of the vehicle , especially in steering operations , for example during a row change ( in which the articulated machine must basically perform a U-turn) .

In addition, in order to allow spraying, the above- mentioned articulated machine requires a motion transmission system ( from the tractor to the irrigation/ spraying system of the trailer ) that transmits power to the irrigation/ spraying system actuators . These transmission systems are subj ect to wear and tear and expose moving mechanical components , with associated risks of work-related inj uries (pulling, crushing, etc . ) .

In addition, a normal orchard tractor weighs about 1300 kg, to which at least another 500 kg of the aforementioned trailer have to be added . These masses determine a speci fic pressure on the ground greater than 5000 kg/m2 , which makes the processing in adverse weather conditions impossible or, in any case , extremely complex, as there is a high risk of getting stuck/ trapped in soft soil and/or subsequently damage field and vehicle because of the large holes in the ground that are generated by the passage of such a massive body on a soft ground .

In the very rare cases in which the trailer is not present , some known solutions ( such as , for example , the model Vision® o f the company Fort®) include a vehicle equipped with a removable proj ecting tank for the plant protection product , opposite , relative to the traction system, to the spraying tool . In such solutions , the vehicle is driven by an operator, who empirically compensates , with his/her driving, for the shi ft in the vehicle centre of gravity due to the progressive displacement of the tank . In particular, the shi ft in the centre of gravity, in conditions of strong slope , for example often present in hilly rows , causes a signi ficant risk of vehicle overturning .

Therefore , agricultural activities in the rows are still mainly carried out through medium-si zed vehicles led by drivers , who determine the speed and - above all - the direction of the vehicle according to their visual perception . These vehicles there fore require a dedicated cockpit and an integrated control platform, in particular one that is strongly insulated and protected from sprayed chemicals .

Moreover, even in the case of tracked vehicles , they are usually equipped with a fixed conformation, which allows them to be used only in certain types of fields .

Finally, in said tracked vehicles , especially on rough soils , each track is rigidly attached to the chassis and touches the ground in three points that are unknown beforehand . This leads to a possible (undesired) uneven soil compaction on both sides and, therefore , to a reduced traction capacity due to the reduced soil surface area af fected by the transmission of tangential forces . To overcome this , known devices usually adopt a system of articulation that allows each track to rotate around an axis parallel to the ground, which al lows the position of the supporting surface to be adapted to the shape of the ground below . The rotation of the track with respect to the vehicle central body is also limited by a shock absorber that prevents the track from rotating too much .

However, the position of the contact points on the ground in relation to the body of the vehicle remains unpredictable and variable , constantly changing the position of the centre of rotation during the manoeuvres , for example at row change . In known cases , with manual control , thanks to the correction capabilities and the rapidity of intervention of the driver, this phenomenon has little importance as these dynamics are suppressed by the driver . However, it represents a potential limit in the case of autonomous driving, as such unpredictable behaviour causes di f ficulties in maintaining a certain traj ectory .

The obj ect of this invention is to provide a system for li fting a processing device for a precision agricultural vehicle and a relative agricultural vehicle , which should be at least partially free from the drawbacks described above and, at the same time , both simple and economic in the reali zation .

Summary

In accordance with this invention, there are provided a system for the li fting of a processing device for a precision agricultural vehicle and a relative agricultural vehicle as claimed in the appended independent claims and, preferably, in any one of the claims directly or indirectly depending on the independent claims .

The claims describe preferred embodiments of the invention forming an integral part of this description .

Brief Description of the Drawings

The invention wi ll now be described with reference to the attached drawings , which show some non-limiting embodiments thereof , wherein :

Figure 1 is a front and schematic perspective view, with parts removed for clarity, of an agricultural vehicle according to an aspect of the present invention;

Figure 2 is a rear perspective and schematic view, with parts removed for clarity, of the vehicle in f igure 1 , in which a processing device also is schematically shown .

- Figure 3 is a lateral and schematic view, with parts removed for clarity, of the vehicle of Figure 1 ;

- Figure 4 is a ( sectional ) plan and schematic view, with parts removed for clarity, of the vehicle of Figure 1 ;

- Figure 5 is a rear and schematic perspective view, with parts removed for clarity, of the vehicle of Figure 1 showing an extraction mechanism of at least one battery pack;

- Figures 6 and 7 are two lateral and schematic views , with parts removed for clarity, of part of the vehicle of Figure 1 detailing a li fting system in two configurations and fitted with a heat engine ;

- Figures 8 and 9 are two lateral and schematic views , with parts removed for clarity, of a part of the vehicle of Figure 1 detailing a li fting system in two configurations and fitted with an electric motor ;

- Figure 10 is a lateral and schematic view, with parts removed for clarity, of a part of a vehicle traction system of Figure 1 ;

- Figure 11 is a schematic view, with parts removed for clarity, of the part of Figure 10 ;

- Figure 12 is a rear and schematic perspective view, with parts removed for clarity, of an electric tracked vehicle according to an aspect of this invention;

- Figure 13 is a lateral and schematic view, with parts removed for clarity, of the vehicle of Figure 12 . Detailed Description

With reference to the attached figures, number 1 indicates, as a whole, a vehicle, preferably an agricultural vehicle, in particular for precision agriculture.

The same numbers and the same reference letters in the figures identify the same elements or components with the same function.

The elements and characteristics shown in the different preferred embodiments, drawings included, may be combined with each other without, though without going beyond the scope of protection of this application as described below.

Within this description the term "second" component does not imply the presence of a "first" component. These terms are in fact used as labels to improve clarity and should not be understood in a restrictive way.

In particular, the vehicle 1 is an agricultural rover, preferably a tracked rover (advantageously, electrically driven) , and configured to move (preferably, in an autonomous manner) in a work area comprising open-field environments and/or confined environments with obstacles, such as orchards/rows with different geometries (both straight and curved, parallel and/or staggered) .

The vehicle 1 comprises a base body 2, which defines a main volume 3.

According to some preferred non-limiting embodiments, the base body 2 is a box-shaped body, namely provided with an internal volume of its own different from the outer volume. In particular, the base body 2 substantially has the shape of a parallelepid .

In the non-limiting embodiment of figures 1 and 2, the base body 2 includes at least two side walls 4, opposite each other; two front and rear walls 4', opposite each other; and two upper and lower walls 4 ' , opposite each other . In particular, the walls 4 , 4 ' , 4 ' ' delimit the main volume 3 . In detail , the lower wall 4 ' ' is located in the area of a bottom 5 of vehicle 1 and the front wall 4 ' is located in the area of a front or rear portion 6 of vehicle 1 .

Advantageously, the vehicle 1 includes a traction system 7 , which is configured to handle the base body 3 on an agricultural field FL .

The vehicle 1 shall preferably also include a processing unit 8 , arranged in the area of the front or rear portion 6 of the base body 3 and configured to carry out an agricultural operation during the movement of the vehicle 1 .

Advantageously but not necessarily, the unit 8 includes ( or is associated with) a processing device 9 , which is removable and replaceable for carrying out agricultural operations such as chopping, spraying ( as shown in figure 2 ) pruning, etc . For example , in the case of chopping, the processing device 9 is positioned at the front of the vehicle 1 (namely, the vehicle moves in the direction in which the processing device 9 is in relation to the base body 3 ) ; whereas , in the case of spraying/spraying, the processing device 9 is located at the back relative to a longitudinal direction D (namely, the vehicle moves in the opposite direction relative to that in which the processing device 9 is located in relation to the base body 3 ) .

Advantageously, the vehicle 1 also includes a control unit 10 , which i s configured to control the action of the traction system 7 and/or the machining unit 8 .

Physically speaking, the control unit 10 may consist of either a single device or several separate devices communicating through the local area network ( known and not further detailed herein) of the vehicle 1 . In some preferred non-limiting cases , the control unit 10 is of the type described in the Italian patent application filed by the Applicant together with this application and entitled "METHOD AND SYSTEM FOR THE AUTONOMOUS NAVIGATION OF AN AGRICULTURAL VEHICLE" .

In other non-limiting cases , the control unit 10 is configured to allow the vehicle 1 to be driven via remote control and/or immersive driving system ( in particular in real-time ) .

Advantageously but not necessarily, vehicle 1 includes a tank 11 configured to accommodate a liquid to perform at least part of an agricultural operation . For example , the liquid can be a solution to be sprayed through the processing unit 8 ( or through the processing device ) containing water and/or pesticides and/or a plant protection product . Alternatively or additionally ( in case the tank consists of two chambers ) , the liquid may be a fuel ( to power the traction system 7 and/or the processing device 9 , i f they are not electrically powered) .

Preferably, the tank 11 defines , on the inside , a chamber 12 , which is at least partially, in particular totally, arranged inside the main volume 3 . By integrating the tank 11 in the base body 2 , it is not necessary for the vehicle 1 to tow or support any other proj ecting tank, thus making the vehicle 1 more stable while avoiding making its inertia excessively variable . In addition, the vehicle 1 can be signi ficantly lightened compared to known articulated vehicles , since a weight capable of exerting suf ficient driving force to tow a full tank in tow will no longer be necessary . In particular, the higher the level of l iquid in the tank 11 , the greater the weight and, therefore , the potential driving force exercisable by vehicle 1 upon the agricultural field FL .

Preferably, vehicle 1 includes a sensor system 13 configured to interact with the control unit 10 to control the traction system 7 and the processing unit independently, namely without any operator on board the agricultural vehicle 1 . In particular, the sensor system 13 includes at least one optical sensor 14 , for example a (mono or stereo ) video camera . More speci fically, the sensor system 13 also includes a tracking device 15 (preferably a satellite tracking device ) and/or a laser device , such as a LIDAR 16 and/or a radio wave device , such as a radar or sonar . In detail , the sensor system 13 is preferably mounted on board the vehicle 1 ( i . e . on the base body 2 ; in particular in the area of a portion opposite the portion 6 along the longitudinal axis D) and directed at least towards the direction of travel of the vehicle 1 itsel f . For example , the camera can be a frontfacing camera ( in particular, a wide-angle camera ) or even a so-called 360-inch camera, which is configured to detect almost all around the vehicle 1 .

In the non-limiting embodiments of the attached figures , tank 11 is arranged in such a way that a vertical axis VA going through the centre o f gravity CM ( or the centre of mass ) of the vehicle 1 ( arranged flat ) goes through the tank 11 itsel f , in particular in order to cross it from side to side . In this way, the emptying of the tank 11 results in an irrelevant displacement of the centre of gravity CM or, anyway, in a displacement of the centre of gravity which can ef ficiently be compensated for by the control unit 10 in the autonomous driving of the vehicle 1 .

Advantageously but not necessarily, the tank 11 is manufactured as one single piece together with the base body 2 piece . In particular, both the tank 11 and the base body 2 , have their respective metal support structures , which are integral ( for example welded) to them .

According to some preferred but non-limiting embodiments , when the tank 11 is full of said liquid, at least 50% , preferably at least 70% , in particular at least 80% of the mass of the vehicle 1 is less than one metre from the centre of gravity CM of the vehicle 1 . In particular, when the tank 11 is filled with said liquid, at least 50% , preferably at least 70% , in particular at least 80% of the mass of the vehicle 1 is less than hal f a metre from the CM centre of gravity of the vehicle 1 .

Advantageously but not necessarily, the vehicle 1 is configured so that the centre of gravity CM is at a height from the agricultural field FL of less than 50 cm, preferably less than 40 cm .

In some preferred non-limiting cases , when the tank 11 is full of said liquid, the tank 11 itsel f is located ( is placed) in the area of the centre of gravity CM of the vehicle 1 , where the moment of inertia of the surface of the tank 11 filled with liquid, is less than 100 kg-m ⁴ , in particular less than 50 kg-m ⁴ , more in particular less than 30 kg-m ⁴ , preferably less than 20 kg-m ⁴ .

Advantageously but not necessarily, the total length L (namely, the dimension along the longitudinal or driving direction D) of the vehicle 1 including the tank 11 is less than 2 . 5 m . The total length of the vehicle 1 including the tank 11 shall preferably be less than 2 m .

Advantageously but not necessarily, the total width W (namely, the dimension along the direction T perpendicular to the direction D) of the vehicle 1 , in particular between the traction system 7 , is less than 1 . 8 m . Preferably, the total width of the vehicle 1 is less than 1 . 5 m, in detail less than 1 . 25 m, for example about 1 . 18 m .

Advantageously but not necessarily, the base body 3 is less than 65 cm wide , in particular less than 60 cm .

Preferably, tank 11 , namely the chamber 12 , is configured to hold more than 180 litres of liquid, in particular more than 200 litres , for example 220 litres .

According to some preferred embodiments , the vehicle 1 has a total mass of less than 1000 kg, in particular equal to or less than 800 kg . This mass , much lower than a normal orchard tractor ( that is about 1300 kg to which 500 kg of towed barrel have to be added) , al lows the pressure exerted by the vehicle 1 upon the agricultural field FL to be signi ficantly reduced and, therefore , allows the vehicle 1 to be used in adverse weather conditions ( in which the field FL is more yielding) .

Therefore , advantageously but not necessarily, the maximum pressure exerted by vehicle 1 upon agricultural field FL, in particular exerted by the traction system 7 upon the agricultural field FL is less than 5000 kg/m ² , in particular less than 3000 kg/m ² , preferably less than 2000 kg/m ² , for example about 1800 kg/m ² . Compared to traditional equipment on wheels , which exerts speci fic pressures of over 7000 kg/m ² , the lower pressure exerted by the vehicle 1 has many advantages . The root systems of the plants of the agricultural field FL are not crushed and, therefore , damaged by the passage of the vehicle 1 . In addition, a possible inter-row turf is not damaged, thus avoiding the formation of puddles and muddy holes and making it possible for the vehicle to promptly enter the field even with wet and therefore softer soil FL . Furthermore , the lower pressure increases the likelihood of ef fectiveness of the precision agricultural treatment ; indeed, the proli feration of pathogens takes place j ust after storms , when traditional known art vehicles cannot enter the field because of the risk of bogging .

In the non-limiting embodiments of the attached figures ( see for example Figure 4 ) , the centre of gravity CM of the vehicle 1 substantially lies within a footprint of the traction system 7 , in particular wherein the centre of gravity CM substantially is at the centre of a volume delimited by the traction system 7 . This ensures that the angles of slope above which the vehicle 1 is at risk of tipping are the same in roll or pitch .

Advantageously but not necessarily, the centre of gravity CM of the vehicle 1 does not change position during the agricultural operations of the vehicle 1 . This ensures predictable and constant behaviour of the vehicle 1 when making a turn, namely during the steering phases , for example for a row change .

According to the non-limiting embodiments of the attached figures , the traction system 7 comprises at least one rotary system 17 arranged in the area of a right portion 18 of base body 2 and a rotary system 19 arranged in the area of a left portion 20 of base body 2 . In particular, the rotary system 17 and the rotary system 19 are controllable (by the control unit 8 ) so that they can rotate at di f ferent speeds so as to allow the vehicle 1 to make a turn .

In the non-limiting embodiments of the attached figures , the rotary system 17 and the rotary system 19 are a pair of tracked systems 21 , 21 ' ( right and left , respectively) arranged parallel to each other and configured to move the vehicle 1 on the field FL .

In other non-limiting embodiments which are not shown herein, the rotary systems 17 and 19 include one or more ( in particular, two) wheels.

In particular, the tracked systems 21, 21' include a first track 22 and a second track 22' respectively (right and left, respectively) .

Advantageously but not necessarily, the first track 22 and the second track 22' are respectively connected to the base body 2 by means of respective suspensions 23, which entirely make the base body 2 a sprung mass of the vehicle 1. In particular, the respective suspensions 23 are Christie suspensions .

According to the non-limiting embodiment shown in Figures 10 and 11, each suspension 23 comprises a series of arms 24, each of which has an end pivoted on the base body 2 (or, in any case, a supporting structure that is integral to it) and a second end, opposite the first, to which an idle wheel 25 is fitted, which is configured to press and slide along a portion 26 of the 22, track 22' representing the only unsprung mass of the vehicle 1. Preferably, for each arm 24, the suspensions 23 include a respective shock absorber 27 (comprising a damper 28 placed within an elastic element, for example a spring 29) equipped with a first end pivoted on the body base 2 (or, in any case, a support structure that is integral to it) and a second end pivoted on intermediate point of the arm 24. In this way, the arms are suspended and an even weight distribution of the vehicle 1 is ensured even in the presence of a rough field FL. Moreover, this embodiment potentially allows, when it is preferable, an uneven profile of distribution of the weight of the vehicle 1 to be imposed by acting upon the preload of springs 29 of the shock absorbers 27.

In the non-limiting embodiment of Figure 10, the portion 26 of the track 22, 22' is centrally arranged in contact with the field FL and is delimited by two oblique portions 26 ' of the track 22 , 22 ' . In particular, by means of the oblique portions 26 ' due to the suspensions 23 , the vehicle 1 is raised ( relative to the condition in which the portions 26 and 26 ' lie on the same line , for example in the absence of suspensions 23 ) by at least 4 cm, in particular at least 5 cm, preferably about 6 cm .

In some preferred non-limiting cases , each tracked system 21 , 21 ' (namely, each rotary system 17 , 19 ) is caused to rotate by a respective electric actuator 30 , 30 ' .

Advantageously but not necessarily, the electric actuators 30 , 30 ' are powered by at least one battery pack 31 placed at the bottom 5 of the base body 2 . In particular, as shown in the non-limiting embodiment of Figure 5 , the battery pack 31 is at least partially, in particular totally, included within the main volume 3 .

According to the non-limiting embodiment of figure 5 , the battery pack 31 is removable , in particular with a drawer-like movement that allows it to be extracted along a direction parallel to the longitudinal direction D . In this way, an exhausted battery pack 31 can quickly be replaced with a charged battery pack 31 , thus continuing with the farming operations while the exhausted battery pack 31 is recharged .

According to a further non-limiting embodiment which is not shown herein, the battery pack 31 is removable , in particular with a drawer-like movement that allows it to be extracted along a direction T perpendicular to the longitudinal direction D and substantially parallel to the field FL ( for example , at a height immediately above the tracked system 21 , 21 ' ) . In this way, an exhausted battery pack 31 can quickly be replaced with a charged battery pack 31, thus continuing with the farming operations while the exhausted battery pack 31 is recharged.

According to another non-limiting embodiment which is not shown herein, the battery pack 31 is removable, in particular with a locking/unlocking device permitting the extraction in a direction perpendicular to the longitudinal direction D and substantially perpendicular to the field (for example, along the vertical axis VA, downwards) , in particular from the bottom 5 of the body base 2. In this way, an exhausted battery pack 31 can quickly be replaced with a charged battery pack 31, thus continuing with the farming operations while the exhausted battery pack 31 is recharged .

In other non-limiting cases, the battery pack 31 is fixed to the base body 2, which is replaceable.

Advantageously but not necessarily, the processing unit 8 (namely, the vehicle 1) comprises a lifting system 32 (as described below) , which is configured to lift the processing tool 9 mechanically coupled to it.

According to a further aspect of the invention, there is provided a system for lifting a processing device of a precision agricultural vehicle.

Preferably, the lifting system 32 includes a lifting element 33 that can be coupled (and is coupled) to the front or rear portion 6 of the base body 2 via a kinematic mechanism 34. In particular, in the non-limiting embodiments of the attached figures, the lifting element 33 is a lifting plate. In other non-limiting embodiments which are not shown herein, the lifting element 33 is configured differently, for example by means of trestles, movable arms, etc.

In addition, the lifting system 32 includes an interface element 35, which is arranged in the area of the lifting element 33 and can mechanically be coupled ( is coupled) to the processing device 9 (which includes an interface element complementary to element 35 ) .

According to some non-limiting embodiments , the interface element 35 includes a three-point coupling system ( of a known type and, therefore , not further detailed herein) , which exerts a grip upon the processing device 9 and allows for a quick fastening o f any processing device 9 equipped with such interface .

Preferably, at the mechanical interface between the interface element 35 and the processing device 9 , there is ( in addition to the mechanical coupling for the li fting) a coupling for a transmission of motion (namely, a power take- ) between the base body 2 and the processing device 9 , in particular between an actuator system 46 (preferably but not necessarily mounted on board the interface element 35 ) and the processing device 9 . In detail , the creation of said clutch is ( automatic and) simultaneous with the mechanical coupling for the li fting .

Preferably, as shown in the non-limiting embodiments of Figure 1 and Figures 6 to 9 , the l i fting system 32 includes an actuator device 36 configured to adj ust at least the height position of the li fting element 33 (namely, of the plate or of arms that determine the li fting) .

Advantageously but not necessarily, the kinematic mechanism 34 is configured to have the li fting element 33 assume at least a first configuration, in particular a lowered configuration ( Figures 6 and 8 ) , in which the interface element 35 can be coupled to the processing device 9 ( in particular resting on the ground in a tool shed) , and a second configuration, in particular a raised conf iguration ( Figures 7 and 9 ) , in which the interface element 35 is configured to support the machining device 9 ( keep it raised) . In particular, the li fting system 32 is configured to li ft the processing device 9 from the first ( lowered) configuration to the second ( raised) configuration . More speci fically, the second configuration is variable in height depending on the processing device 9 used ( for example , for a shredder the height of the second configuration will depend on the desired chopping height ) .

According to some non-limiting embodiments , the kinematic mechanism 34 comprises at least three parallel arms 37 , 37 ' equipped with two ends , one end 38 pivoted on the li fting element 33 and one end 39 pivoted on the base body 3 ; in particular in the area of the front wall 4 ' .

Advantageously but not necessarily, the li fting element 33 is movable from a minimum height ( from the field FL ) of less than 250 mm (preferably less than 200 mm, more in particular less than 180 mm, for example about 160 mm) to a maximum height of more than 300 mm (preferably more than 400 mm, more in particular more than 450 mm, for example about 460 mm) .

According to the non-limiting embodiments of the attached figures , said at least three arms 37 , 37 ' define a pantograph system of connecting rods .

Advantageously but not necessarily, the actuator device 36 includes at least one electric motor 40 , which is configured to move , through its rotation, the element 33 from the first configuration to the second configuration and/or to intermediate configurations between the f irst and the second one .

In the non-limiting embodiments of Figures 1 and 6- 9 , the actuator device 36 includes winch means comprising a pulling element , for example a drum 41 (namely, a winch) , which can be rotated by the electric motor 40 , and an elongated motion transmission element , for example a suspension cable 42 , which has at least one portion integral to the pulling element ( drum 41 ) and another portion integral to said at least one li fting element 33 .

In particular, though not in a limiting manner, the suspension cable 42 is configured to be wound and unwound around the drum 41 as a result of the rotation of the electric motor 40 .

Advantageously but not restrictively, the winch means include and a suspension lever 43 configured to transmit the motion of the suspension cable 42 to the li fting element 33 .

Advantageously but not necessarily, the suspension lever 43 is coupled to at least one of the arms 37 , 37 ' in an intermediate point 44 between the two ends , so as to cause the rotation of said at least three arms 37 , 37 ' around the ends pivoted on the base body 2 (namely, the front wall 4 ' ) and the consequent (vertical ) movement of the li fting element 33 of raising as a function of the motion of the suspension cable 42 .

Preferably, kinematic mechanism 34 includes four arms 37 , 37 ' parallel to each other and arranged so as to determine an intermediate volume 45 between them . Advantageously but not necessarily, the intermediate volume is configured to accommodate (house ) an actuator system 46 to operate the processing device 9 . In other words , the actuator system 46 is configured to transmit power (particularly through a rotation of a respective shaft ) to the interface element 35 .

Advantageously but not necessarily, the actuator system 46 is integral to the li fting element 33 . In particular, the li fting element 33 includes a through hole to allow for the passage of a shaft of the actuator system 46 , at whose distal end there is mounted the interface element 35 .

Preferably, the actuator system 46 is at least partially, in particular totally, arranged within the intermediate volume 45 defined between the li fting element 33 and the base body 2 .

In some non-limiting cases , like the one shown in the embodiment of Figures 6 and 7 , the actuator system 46 includes a heat engine 48 and a fuel tank 49 (visible in Figure 1 ) , which is preferably arranged in an integral manner to the base body 2 and is at least partially ( in particular, totally) included within the main volume 3 . In this way, since the largest part of the energy used by vehicle 1 is consumed by processing device 9 , a more economical solution is obtained ( especially in countries where fuel costs are extremely low compared to electricity costs for generating the same power ) . In addition, this reduces the energy consumption of the battery pack 31 and the " charging" for the processing device 9 is carried out by simply filling the fuel tank 49 , extremely faster than an electric charging .

In other non-limiting cases , like as the one shown in the embodiment o f Figures 8 and 9 , the 46 actuator system includes an electric motor 50 . In this way, it i s possible to carry out a more sophisticated management of the processing device 9 by regularly adj usting the electric motor 50 in terms of torque or number of revolutions . In addition, this solution is easily integrated in the control unit 8 and allows for a signi ficant noise reduction compared to other types of motori zations , while reducing vibrations and eliminating CO2 emissions ( thus making the use of vehicle 1 in greenhouses possible ) . In particular, the lifting system 32 includes two suspension levers 43 coupled to two upper arms 37 ' of the four parallel arms 37 , 37 ' .

In the non-limiting embodiment of Figure 1 , the two suspension levers 43 are coupled t one another by a connecting element 47 , which is connected to one end of the suspension cable 42 ( for example by means of a knot or hook or, preferably, by means of a hook fitted with a pulley to halve the load on the 42 suspension cable and on the drum 41 ) to simultaneously move the two suspension levers 43 according to the motion of the suspension cable 42 . In other words , by means of the suspension cable 42 , the electric motor 40 adj usts the rotation of the two suspension levers 43 around the end pivoted on the front wall 4 ' of the base body 2 . In this way, the upper arms 37 ' and the levers 43 (which became integral in a single body) allow the torsional sti f fness of the element 33 to be signi ficantly increased compared to the base body 2 .

According to some non-limiting embodiments , the inclination of the li fting element 33 with respect to the vertical axis VA substantially is zero .

Alternatively or in addition, the inclination of the li fting element 33 with respect to the vertical axis VA is adj ustable ; in particular by moving one of the pins of the lower or upper arms 37 , 37 ' with a lever centred on base body 2 or on the li fting element 33 .

Preferably, the element 33 is connected to the base body 2 so that it is not rigid in a vertical direction, that is , it hangs on the base body 2 . In this way, an unbound degree of freedom is generated, which allows the processing device 9 ( for example , a mulcher ) to adapt to the configuration of the agricultural field FL, thus avoiding unwanted jamming and reducing, at the same time, the moving force delivered by the traction system 7.

Advantageously but not necessarily, the control unit 10 is also configured to control the action of the actuator device 36 by adjusting the height of the lifting element 33 from the agricultural field FL.

Preferably, as shown in the non-limiting embodiment of Figures 1, 6-9, the actuator device 36 is (at least partially) placed on board the base body 2 and also is at least partially (in particular, totally) integrated in the main volume 3.

According to a further aspect of the invention, there is provided a tracked electric vehicle, in accordance with the description above and below.

In particular, the vehicle 1 comprises a pair of tracked systems, 21, 21', which are arranged parallel to each other and are configured to move vehicle 1 on the field FL.

In addition to the base body, the vehicle 1 preferably includes a support structure 51, which is configured to connect the base body 2 to each of the tracked systems 21, 21 ’ .

Advantageously but not necessarily, as previously mentioned, each of the tracked systems includes a track 22, 22' defining, on the inside, a track volume 52. In particular, the track volume 52 substantially corresponds to the space volume surrounded by each track 22, 22' .

Preferably and as shown in the non-limiting embodiment of Figures 10 and 11, each tracked system 21, 21' comprises an electric actuation system 5, configured to move the track 22, 22' and, hence, the vehicle 1. In particular, the tracked system 21, 21' includes a first crown 54 and a second crown 55 arranged on opposite sides and configured to at least partially tension the track 22 , 22 ' , at least one of them, in particular the first crown 54 , being a driving crown moved by the electric actuation system 53 and coupled to an inner portion 56 the track in order to transmit the motion of the electric motor 50 to the track 22 , 22 ' .

Advantageously but not necessarily, the electric actuation system 53 is substantially (namely, at least for the largest part ; in particular , totally) integrated within the track volume 52 .

Preferably, the electric actuation system 53 is substantially (namely, at least for the largest part ; in particular, totally) supported by the tracked system 21 21 ' .

According to some preferred, but non-limiting embodiments , such as those shown in figures 12 and 13 , the base body 2 and/or the support structure 51 can be replaced so as to change the height of the bottom 5 of the base body 2 from the field FL . In this way, it is possible to adj ust the height of the bottom 5 of the base body 2 in crops that require it , such as crops requiring a very variable track distance or inter-row processing, thus allowing the vehicle to straddle plants that have already partially grown and/or allowing the track distance (namely, the distance between the tracks 22 , 22 ' along the direction T ) to be adapted to the actual inter-row distance of the field of cultivation (namely, the distance between two ad acent rows ) .

In the non-limiting embodiment of Figure 10 , the support structure 51 comprises at least one pair of hori zontal elements 57 , each arranged within a respective track volume 52 . In particular, the horizontal elements 57 connect the first crown 54 and/or the second crown 53 to the base body 2 .

In particular, the support structure 51 also includes vertical elements 58, which connect the horizontal elements 57 to the base body 2.

In some non-limiting cases, the base body 2 is movable along the vertical elements 58 so as to adjust the height of the bottom 5 of the base body 2 from the field FL.

According to some non-limiting embodiments which are not shown herein, the translation of the base body 2 along the vertical elements 58 is controlled by a special actuator.

Alternatively or in addition, according to some nonlimiting embodiments, the base body 2 can be replaced so as to adjust the track distance (i.e. the distance between the tracks 22, 22' along the direction T) by increasing or reducing the width of the base body 2.

Alternatively or in addition, according to other nonlimiting embodiments, the base body 2 is movable with respect to the tracks 22, 22' (or vice versa, the tracks 22, 22' are movable with respect to base body 2) so as to adjust the track distance, for example through a special actuator.

Advantageously, each electric actuation system 53 includes an electric motor 59, which, in particular, has a power ranging from 2.5 kW to 6.5 kW.

Preferably, the electric motor 59 has a nominal torque of more than 40 Nm, in particular less than 120 Nm.

In some non-limiting cases, the electric motor 59 is a torque motor.

Alternatively or in addition, each electric actuation system 53 includes an epicyclic reduction gear 60.

According to some non-limiting embodiments, each electric actuation system 53 comprises a respective drive 61, which is arranged on the inside of the respective track volume 52.

In some non-limiting cases, each electric actuation system 53 receives energy from the battery pack 31 arranged in the area of the bottom 5 of the base body 2 ( and, i f necessary, removable ) .

In other non-limiting cases , alternatively or in addition, each electric actuation system 52 receives energy from a respective battery pack 62 arranged within the respective track volume 52 .

Advantageously but not necessarily, each of the tracked systems 21 , 21 ' includes , within the respective track volume 52 , a respective suspension system 23 ( in particular as described above ) .

According to the non-limiting embodiment of Figure 10 , the suspension system 23 is configured to generate a trapezoid shape on the respective track 22 , 22 ' . In particular, a smaller base of the trapezoid corresponds to the ( lower central ) track portion 26 , in contact with the field FL, which is the only portion of the vehicle 1 defining an unsprung mass .

Preferably, as mentioned above , the suspension systems 23 entirely make the base body 2 a suspended mass of the agricultural vehicle 1 . In particular, the suspension systems 23 are configured to define Christie suspensions in accordance with the description above .

In use , the vehicle 1 preferably is a sel f-driving vehicle and, therefore , it starts from a charging station for the battery packs 31 located in a dedicated structure and heads , through the aforementioned autonomous navigation, towards a first row ( or orchard or field) driving through it in order to carry out the aforementioned agricultural operations , such as chopping, dusting, spraying, . . .

In some non-limiting cases , once it has completed the agricultural operation for which it was prepared (based on the processing device 9 lifted by the lifting system 32) within the first row, the vehicle 2 can move to a second row in order to continue with the same agricultural operation.

In other non-limiting cases, the vehicle shall return to the above-mentioned structure and replace, preferably automatically, the processing device 9 with another one, in order to carry out a different agricultural operation in the same row/orchard/ field or another one.

Advantageously but not necessarily, if the level of charge or the liquid/fuel level in the vehicle tank 11 or 39 reaches a certain predefined threshold value, the agricultural vehicle 1 interrupts the current agricultural operations and, through a return path, goes back to the charging station; in particular to then resume, once loaded/refuelled (for example as a result of a charge or replacement of the battery pack 31 by an operator or in an automatic manner) , the agricultural operations from where they had been interrupted.

Although the invention described above makes reference to a very precise embodiment, it is not to be as considered limited to this example of implementation, for its scope of protection also includes all those variants, modifications or simplifications covered by the attached claims, such as, for example, a different type of vehicle, a different type of sensors or base body geometry, different implementations, different processing devices, etc.

The system, the (agricultural and/or electric tracked) vehicle and the lifting system described above have many advantages .

First, thanks to the small size, the vehicle described above reduces manoeuvring spaces and, consequently, increase the surface to be used for cultivation. In addition, since the main masses are concentrated near the centre o f gravity CM of the vehicle , especially the tank ( also at the centre of the vehicle ) , load trans fers between full and empty tanks are avoided, ensuring consistent performance during operation . This is also important for the quality of the autonomous driving, which considerably improves in terms of precision . In particular, the concentration of the main masses at the centre of the vehicle also reduces the relative moment of inertia, for example increasing the value of the modal frequencies of roll and pitch and consequently increasing the stability of the vehicle on any type of terrain .

In addition, the lower speci fic pressure exerted upon the field FL preserves the integrity of the plant roots and of the inter-row turf , avoiding the formation of puddles and muddy holes , thus making it possible for the vehicle to promptly enter the field even with wet and soft soil . In particular, this increases the ef fectiveness of the agricultural treatment operation, as the proli feration of pathogens usually occurs in wet conditions , immediately after storms , when traditional agricultural vehicles cannot intervene . The reduced weight also af fects the reduction of fuel consumption and the manoeuvrability of the vehicle .

In addition, the substantially fixed hori zontal position of the centre of gravity of the vehicle even during tank emptying ensures predictable and constant steering behaviour, which generally requires an operator who promptly corrects any slippage or errors of the tracked systems .

Advantageously, on slopes it also benefits from the fact that the traction system is electric, as it is possible to recover energy during downhill or braking, using electric motors as generators . A further advantage of this invention lies in the integration of the processing device on the vehicle 1 (which li fts it via the li fting system) . In particular, the traditional concept of tractor dragging the processing device is subverted, as a greater weight of the li fted processing device corresponds to a greater weight of the vehicle 1 and, therefore , a greater tensile force that can be delivered to the ground, hence avoiding having to increase the mass of the tractor as the mass of the processing device increases .

In addition, the integration of the electric motor or heat engine in the intermediate volume and, in any case , so that it is integral to the li fting plate ( instead of being integral to the base body) al lows the speed of the motor/engine to be adj usted independently of the speed of the traction system and this eliminates all mechanical gearbox devices and/or multiplication systems present in traditional vehicles . This allows for a further reduction in the weight of the transmission and for an increase in its energy ef ficiency . As a consequence , since there are no exposed organs in motion, there are also advantages in terms of safety ( avoiding the risk of pulling/ strangling and crushing for operators or animals ) .

Further advantages also lie in the structure of the track, which allow, since they comprise , on the inside , motors and electronics , for a further lowering of the centre of gravity and for the possibility of replacing the base body and/or tracks with a plug-and-play method, i f necessary by solely connecting dedicated connectors . In particular, this modular structure has many advantages in terms of cost, since it does not necessarily require the presence of two di f ferent vehicles to handle di f ferent types of rows or fields .

In addition, the possibility of a fully electric power supply allows the vehicle to be integrated in agricultural production systems that are totally independent from the energy point of view, for example exploiting renewable sources , such as wind and/or the sun, at the same time reducing CO2 production . In particular, in greenhouse cultivation, where the problem of pollution takes on utmost importance , a ful ly electric power supply and an autonomous driving system minimi ze dangers , from a healthcare point of view, also towards operators (who are not subj ected to the risk of inhaling toxic substances such as pesticides ) .

Advantageously but not necessarily, the battery pack 31 is placed as low as possible and on the opposite side relative to the processing device . As shown in Figure 5 , this position makes it possible for manufacturers to implement a quick and automatic changeover system, thus of fering the option of continuous vehicle operation 1 . This also allows for the management of several battery packs 31 , which can also be used for uses other than the main one , such as becoming storage systems for the excess energy produced by photovoltaic systems during their phases of maximum productivity or when there is no demand for use by the vehicle 1 .

Finally, the autonomous navigation of the agricultural vehicle can be used both in rows and in the open field, without having a user put his /her health at risk in the case of potentially dangerous operations such as pesticide spraying and shearing .

LIST OF THE REFERENCE NUMBERS OF THE FIGURES

1 vehicle

2 base body main volume walls ’ walls ’ walls bottom front or rear portion traction system processing units processing device control units tank chamber sensor system optical sensor tracking device 6 LIDAR first rotary system right portion second rotary system left portion right tracked system left tracked system right track left track suspensions arms idle wheel 6 track portion 6 oblique track portion shock absorber damper spring electric actuator ’ electric actuator battery pack li fting system li fting element kinematic mechanism interface element actuator device (winch) arms ' arms ends ends electric motor drum suspension cable suspension lever intermediate point of the lever intermediate volume actuator system connecting element heat engine fuel tank electric motor support structure track volume actuation system first crown second crown inner portion hori zontal elements vertical elements electric motor 60 epicyclic reduction gear

61 drive

62 track pack battery cingular

CM centre of gravity D longitudinal direction

FL agricultural field

L length

T perpendicular direction

VA vertical axis W width