Resumen
[0001] The invention relates to a novel assistance system (1) suitable for being used in agricultural tasks, designed for following a user (12) specific such that said user may harvest agricultural material by then depositing it in the system (1) without having to carry it, wherein said system (1) comprises a processing unit (2), a robotic device (3) and a secondary locating device (13) suitable for being worn by a user (12). The robotic device (3) comprises a platform (4), a weighing sensor (6) and at least two (11) primary locating devices, all being configured for sending and receiving information with the processing unit (2), as well as a storage element (7). Additionally, the system (1) comprises image acquisition means (10), for detecting an article of clothing (14) worn by the user (12), also comprised in the system (1) of the invention.
Reivindicaciones
1. An assistance system (1) suitable for being used in agricultural tasks, characterized in that it comprises a processing unit (2), a robotic device (3) and a secondary locating device (13), wherein: - the processing unit (2) is configured for data acquisition, storage and processing; - the robotic device (3) comprises: - a platform (4) configured for being moved and configured for sending and receiving information with the processing unit (2), further comprising movement means; - a storage element (7) arranged on the platform; - a weighing sensor (6) comprising communication means for communicating with the processing unit (2) configured for measuring the weight of the storage element (7) and its content; and - at least two primary locating devices (11) arranged integrally with the platform (4); and - wherein the secondary locating device (13) is configured for sending and receiving data with the primary locating devices (11), the secondary locating device (13) being suitable for being worn by a user (12). 2. The assistance system (1) according to the preceding claim, additionally comprising: - image acquisition means (10), configured for gathering information about distance and/or depth, comprising communication means for communicating with the processing unit (2); and - an article of clothing (14). 3. The assistance system (1) according to the preceding claim, wherein the image acquisition means (10) comprise two RGB cameras and an infrared camera. 4. The assistance system (1) according to any of the preceding claims, comprising at least two robotic devices (3). 5. The assistance system (1) according to any of the preceding claims, wherein the weighing sensor (6) exhibits a precision equal to or greater than 5 g and is adapted for taking and transmitting measurements continuously at time intervals of less than 1 second. 6. The assistance system (1) according to any of the preceding claims, wherein the robotic device (3) comprises a vertical fixing structure (9) comprising a first spar forming an angle comprised between 80° and 100° with respect to the platform and fixed thereto and a second spar located in a manner perpendicular to the first spar at the end opposite the attachment with the platform on which the two primary locating devices (11) and/or the image acquisition means (10) are arranged. 7. The assistance system (1) according to any of the preceding claims, wherein the locating devices (11, 13) comprise ultra-wideband frequency equipment. 8. The assistance system (1) according to any of the preceding claims, wherein the platform (4) comprises at least three wheels (5), a battery, and at least one traction motor having a power sufficient for moving the platform (4) in a stable manner across surfaces with a slope of more than 35%. 9. The system (1) according to any of the preceding claims, wherein the secondary locating device (13) is secured to a cord ring having an adjustable length. 10. The assistance system (1) according to any of the preceding claims, wherein the platform (4) comprises a level maintenance system of the weighing sensor (6). 11. The assistance system (1) according to any of the preceding claims, additionally comprising a satellite positioning device (16) in turn comprising communication means for communicating with the processing unit (2). 12. An assistance method in agricultural tasks, comprising the use of a system (1) according to any of the preceding claims, characterized in that it comprises performing the following steps: a) arranging the robotic device (3) on the terrain; b) arranging the secondary locating device (13) on a user (12); c) determining, using the processing unit (2), the position, orientation and distance of the user (12) with respect to the robotic device (3) using the data obtained by the primary locating devices (11) and by the secondary locating device (13); d) determining, using the processing unit (2), the actuation of the robotic device (3) based on the position, orientation and distance obtained in step c); e) executing, using the processing unit (2), the actuation determined in step d); and f) repeating steps c)-e) at regular time intervals until the termination of the task. 13. The assistance method in agricultural tasks according to the preceding claim, wherein the system (1) comprises image acquisition means (10), configured for gathering information about distance and/or depth, in turn comprising communication means for communicating with the processing unit (2) and an article of clothing (14), wherein - carried out before step a) are a step g) for obtaining a data set comprising images taken by the image acquisition means (10) in which the article of clothing (14) appears; and a step h) for training an algorithm for separating pixels and calculating the distance comprised between the image acquisition means (10) and the article of clothing (14) using said data set; - carried out after step c) is a step i) for determining the position of the user (12) with respect to the image acquisition means (10) by processing the image obtained by said means using the processing unit (2) and the algorithm trained in step h); and wherein - instead of step d), a step j) is carried out for determining, using the processing unit (2), the definitive position of the user (12) by comparing the results obtained in steps c) and i), based on same, determining the actuation of the robotic device (3). 14. The assistance method in agricultural tasks according to any of claims 12-13 and comprising the use of a system (1) according to claim 11, wherein prior to step f) the following additional steps are performed: k) measuring the weight of the storage element (7) and its content and determining if said weight is greater than a previously established threshold weight; I) if the weight measured in step k) is greater than the established threshold, transporting, by means of autonomous navigation using the data obtained by the satellite positioning system (16), the robotic device (3) to a predetermined storage area and depositing the content of the storage element (7) there; and m) transporting, by means of autonomous navigation using the data obtained by the satellite positioning system (16), the robotic device (3) from the storage area to the position determined in step c) or i). 15. The assistance method in agricultural tasks according to the preceding claim comprising the use of a system (1) according to claim 11, wherein - prior to step I), the weight measured in step k) and the position of the user (12) determined in step c) or i) is recorded; and wherein - after step f), the weight and position data are processed, and a production map of the farm is prepared from said data.
