An autonomous agricultural robot, referred to as robot, including: a straddle chassis defining an aisle through which a row of crops can pass, propulsion means for moving the robot in a direction of forward travel, a control unit for controlling the robot and an obstacle-characterization device. This device including: obstacle detection means which are configured to detect an obstacle lying in the path of the autonomous agricultural robot, a processing unit configured so that when an obstacle is detected by the obstacle-detection means, the unit logs the data collected by the obstacle-detection means, and/or processes the data collected by the obstacle-detection means and determines at least one characteristic of the detected obstacle.

An autonomous agricultural robot, referred to as robot, including: a straddle chassis defining an aisle through which a row of crops can pass, propulsion means for moving the robot in a direction of forward travel, a control unit for controlling the robot and an obstacle-characterization device. This device including: obstacle detection means which are configured to detect an obstacle lying in the path of the autonomous agricultural robot, a processing unit configured so that when an obstacle is detected by the obstacle-detection means, the unit logs the data collected by the obstacle-detection means, and/or processes the data collected by the obstacle-detection means and determines at least one characteristic of the detected obstacle.

A grapevine soil-cleaning device and engineering machinery installed with the soil-cleaning device, comprising an air blower (4), an air vent direction reversal device, a soil-retaining device, an angular sensor (7) and a controller (19). The controller (19) is connected to the air blower (4), the angular sensor (7), the air vent direction reversal device and the soil-retaining device respectively. The present device achieves non-contact soil cleaning by blowing air, and has the advantages of no harmful impact on buds and branches, one-time cleaning, and highly efficient soil cleaning. The air vent direction reversal device may achieve a consistent air-blowing direction when the grapevine soil-cleaning device moves among rows of the grapevine. The soil-retaining device may hold back the blown soil and reduce the displacement distance of the blown soil. An auxiliary air pipe is provided below a main air pipe to assist soil-cleaning operations and avoid generating pits on a ridge due to concentrated wind power of the main air pipe. The air vent direction reversal, adjustment of the air power of the air blower and automated direction reversal of the soil-retaining device when moving among ridges are achieved by using the angular sensor (7) and the controller (19), thus achieving a high level of technological intelligence.

A grapevine soil-cleaning device and engineering machinery installed with the soil-cleaning device, comprising an air blower (4), an air vent direction reversal device, a soil-retaining device, an angular sensor (7) and a controller (19). The controller (19) is connected to the air blower (4), the angular sensor (7), the air vent direction reversal device and the soil-retaining device respectively. The present device achieves non-contact soil cleaning by blowing air, and has the advantages of no harmful impact on buds and branches, one-time cleaning, and highly efficient soil cleaning. The air vent direction reversal device may achieve a consistent air-blowing direction when the grapevine soil-cleaning device moves among rows of the grapevine. The soil-retaining device may hold back the blown soil and reduce the displacement distance of the blown soil. An auxiliary air pipe is provided below a main air pipe to assist soil-cleaning operations and avoid generating pits on a ridge due to concentrated wind power of the main air pipe. The air vent direction reversal, adjustment of the air power of the air blower and automated direction reversal of the soil-retaining device when moving among ridges are achieved by using the angular sensor (7) and the controller (19), thus achieving a high level of technological intelligence.

A thermoplastic composition including a mixture of three particular and different polyolefins, including one of a polyamide-grafted polyolefin having particular polyamide grafts (type and quantity), for example, a polyamide-grafted polymer having a polyolefin trunk containing a residue of at least one unsaturated monomer and a plurality of polyamide grafts. Also, a thermoplastic film and, more specifically, a film for encapsulating a photovoltaic module incorporating the polyamide-grafted polyolefin composition.

An applicator assembly for applying an active substance to the root zone of a plurality of plants, the applicator assembly comprising: a subsoil applicator having a cutting element for generating an incision in the ground, an injector associated with the cutting element to allow the active substance to be injected into the incision; and a positioning device adapted to allow the position of the cutting element to change position such that an incision is generated in some material in the root zone while the cutting element moves over other material in the root zone.

An applicator assembly for applying an active substance to the root zone of a plurality of plants, the applicator assembly comprising: a subsoil applicator having a cutting element for generating an incision in the ground, an injector associated with the cutting element to allow the active substance to be injected into the incision; and a positioning device adapted to allow the position of the cutting element to change position such that an incision is generated in some material in the root zone while the cutting element moves over other material in the root zone.

Embodiments of the present invention relate to soil conditioning/amending equipment for use with a tractor or similar hauling equipment to improve soil conditions of a vineyard, orchard, field, or the like. Embodiments of the soil conditioning equipment include a leading bow-shaped structure that cuts through the soil when dragged from the surface by the tractor, etc. The bow shaped structure (injector) is part of an open chute that moves thorough the soil to break up the soil and create an opening for soil amendment to fall through. Compost and/or other soil amendments are poured on a conveyor and into the void landing roughly 1-3 feet below the soil line. The soil and amendments are mixed together in the wake of the injector by waterfall-like currents both above and below the soil line as the void in the soil collapses as the tractor moves forward.

Embodiments of the present invention relate to soil conditioning/amending equipment for use with a tractor or similar hauling equipment to improve soil conditions of a vineyard, orchard, field, or the like. Embodiments of the soil conditioning equipment include a leading bow-shaped structure that cuts through the soil when dragged from the surface by the tractor, etc. The bow shaped structure (injector) is part of an open chute that moves thorough the soil to break up the soil and create an opening for soil amendment to fall through. Compost and/or other soil amendments are poured on a conveyor and into the void landing roughly 1-3 feet below the soil line. The soil and amendments are mixed together in the wake of the injector by waterfall-like currents both above and below the soil line as the void in the soil collapses as the tractor moves forward.

A machine for soil tillage to be arranged on a towing vehicle, wherein when the towing vehicle is travelling in a travel direction an area of soil can be tilled with a soil tillage tool in an intermediate space between at least two obstacles, wherein the machine has a control device with which the soil tillage tool is pivotable into and out of the intermediate space and/or is movable in a transverse direction towards or away from the machine into the intermediate space, wherein the control device comprises an adjusting device which causes the soil tillage tool to pivot in and out and/or to move in the transverse direction by an adjustment amount after detection of an obstacle.