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ARPA 4 - Qualification of safety systems for human detection and collision avoidance (diverse working environments)

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ARPA 4 - Qualification of safety systems for human detection and collision avoidance (diverse working environments)

Version: 1.9

  • arable farming
  • horticulture
  • greenhouse
  • tree crops
  • viticulture
  • livestock farming
  • test setup
  • test execution
  • collection of test data
  • performance evaluation
  • physical system
  • other (including: nothing)
  • Location: in France
  • Offered by: INRAE



This test qualifies the performance of safety detection and emergency stop systems on agricultural robots. In particular, the test assesses the ability to detect human-shaped obstacles and to stop the robot when it encounters them, within its detection zone.

The machine follows a straight, uniform trajectory through an inter-row of artificial vegetation. A dummy is placed on the machine's trajectory at various points to cover the risk zone. The dummy wears non-glossy clothing and can be heated to simulate human body temperature. In addition, the tests are carried out on a child-sized dummy, which is more difficult to detect and largely complies with the characteristics of ISO Standard 19206-2: 2018.

The dummy is placed on the floor at various points in the test area, in three different positions to cover a wide range of scenarios (one standing and two lying positions). The robot must approach the dummy and stop before any contact is made between the dummy and the machine or its tools. Compliance with requirements is checked.

This test is monitored by a high-precision (10-micrometer) reference positioning system (laser tracker), which provides millimetre-precision information on the robot's trajectory and speed.

A technical representative from the robot manufacturer must be present during the test to configure the system to be tested appropriately, check that it is operating correctly, allow information to be checked and attend the testing.
Technical and user manuals must be supplied in advance by the manufacturer to prepare the tests and compile the test report.

This test service is provided by INRAE - TSCF - AgroTechnoPôle, with SHERPA Engineering, as Test Operator, using the resources available at the Montoldre site In France.