autonomous vehicle platform, autonomous vehicle platform system, agricultural robot and method for a

专利摘要:
ROBOTIC PLATFORM AND METHOD FOR PERFORMING MULTIPLE FUNCTIONS IN AGRICULTURAL SYSTEMS An autonomous vehicle platform and system to selectively perform a station management task in an agricultural field, while self-navigation between the planted crop lines, the autonomous vehicle platform, with an autonomous vehicle platform, with an autonomous vehicle platform. base vehicle with a width dimensioned to be inserted through the space between two rows of planted crops, the vehicle base with a seasonal task management structure configured to perform various tasks, including selective application of fertilizers, growth zones of mapping and crop sowing within an agricultural field.
公开号:BR112016011577B1
申请号:R112016011577-5
申请日:2014-11-20
公开日:2021-01-12
发明作者:Kent Cavender-Bares；Joseph B. Lofgren
申请人:Rowbot Systems Llc；
IPC主号:

专利说明:

RELATED REQUESTS
[001] This application claims the benefit of Provisional Application No. 61 / 906,643 filed on November 20, 2013, which is incorporated herein in its entirety by reference. TECHNICAL FIELD
[002] The present invention generally relates to robotic platforms for use in agriculture. More particularly, the present invention relates to an autonomous vehicle platform configured to perform various station management tasks between the cultivated lines of an agricultural field. BACKGROUND OF THE INVENTION
[003] After a growing plant depletes the stores of nutrients stored in its seed, it begins to pick up nutrients from the surrounding soil, through its root system. Rapidly growing plants have a high need for nutrients. If a plant cannot access the necessary nutrients, then its growth becomes limited. Such nutrient limitation can have an impact on the overall growth of the plant, and the economic return to the farmer. Farmers use a variety of strategies to increase the availability of nutrients for the growing crop, especially the addition of chemical fertilizers, for example, nitrogen and phosphorus. However, such chemical fertilizers can be lost from the field before providing any beneficial effect.
[004] For example, nitrogen, which is commonly introduced into a field, in the form of anhydrous ammonium or urea, can be lost by emitting gas into the atmosphere or by draining water out of the field. In particular, ammonium, which is a positively charged ion, generally binds to soil particles and is resistant to loss through runoff. However, in alkaline conditions, ammonium turns into a gaseous form, ammonia, which can be easily lost to the atmosphere. Ammonium can also be transformed into nitrates and subsequently lost from the field through a microbial process known as nitrification. Nitrate, on the other hand, is a negatively charged ion and easily dissolves in water and can be lost as water flows into fields in drainage ditches or streams, or as water seeps down into groundwater.
[005] Urea-containing nitrogen fertilizers are also susceptible to loss when applied to the soil surface. Specifically, when urea is hydrolyzed, or decomposed, it releases ammonia gas, which can be easily lost to the atmosphere. However, if urea is hydrolyzed under the surface within the soil profile, there is less chance that ammonia gas will be lost.
[006] Nitrogen from different forms of fertilizer can also be lost through a process known as denitrification, in which nitrate is converted into gaseous forms of nitrogen, including dinitrogen and nitrous oxide. And, nitrogen can also be lost through microbial-mediated processes that create other gaseous forms of nitrogen. Higher soil temperatures cause microbial processes that occur more quickly, which means that nitrogen fertilizers remaining in or on warmer soils are increasingly susceptible to this type of loss.
[007] Phosphorus, more generally introduced into a field, in the form of phosphate, generally has a lower loss rate than nitrogen, as phosphates readily bind to soil particles. However, phosphorus can be lost from fields through soil erosion or, less commonly, through runoff if the soil cannot be linked to an additional phosphate because all available binding sites are filled.
[008] Fertilizer costs, which are closely linked to the cost of fossil fuels, are significant in the production of commodity crops. Fertilizers that are lost from a field represent inefficiency in agricultural production systems, as well as a potential loss in the profit realized by the farmer. The substantial cost of fertilizers in producing commodity crops encourages farmers to adjust the application of fertilizers to closely match the needs of what they anticipate their harvest will finally do with the entire growing season. However, because fertilizers are instrumental in increasing production, farmers are prone to over-application due to an anxiety that there will not be enough nutrients available when needed.
[009] Particularly in the case of nitrogen fertilizers, the longer an externally applied fertilizer remains in an agricultural field, the more opportunities there are for the fertilizer to be lost. Thus, the ideal fertilizer is applied as needed throughout the growing season. However, tractor-drawn equipment generally cannot be used throughout the season. For example, corn plants require at least nitrogen to reach the point where tassels appear, which can be at a height of six feet or more. Conventional tractor-drawn implements are unable to apply fertilizers when the corn is high. This led to the use of self-propelled sprayer systems, often referred to as "tall boy" or "high reach" systems, capable of covering tall crops. Planes commonly referred to as "agricultural planes," have been used to apply fertilizers throughout the growing season. But, unlike implements pulled by conventional tractors, tall boy systems and agricultural planes typically indiscriminately apply fertilizer to the surface of the field.
[010] In addition, many farmers forgo application in season, in favor of applications in the spring or fall, due to their anxiety about being able to obtain the necessary equipment to apply the fertilizer in the field within the appropriate time window for reasons weather. Producers also deal with a number of advantages and disadvantages when considering the time of fertilizer applications, for example, the cost of fertilizer is often reduced in the fall as the demand for fertilizers decreases.
[011] As a result, fertilizer applications in the pre-season either in the late fall of the next harvest or around the spring planting season are common. However, in both spring and autumn, the application of fertilizer has the potential to be lost from the field, due to the various processes described above.
[012] The inefficient use of fertilizers often also occurs when the fertilizer is applied evenly across an entire field. Many agricultural fields are heterogeneous, with a location potentially varying year-on-year in its nutrient status and different from locations in other parts of the field. As a result, many farmers evaluate the state of soil nutrients, with periodic samples analyzed in a laboratory. These soil tests are used to estimate nutritional needs before the growing season, in the season, or before an application in the fertilizer season. Because of the effort required to take these samples, they are generally infrequent and representative of a fairly large area in a given field. Thus, in addition to applying fertilizers in season when nutrients are needed, an ideal application would also be to take into account the specific soil conditions locally within the field.
[013] In addition to optimizing the application of fertilizers, applying in season how nutrients are needed, and adjusting the amount to meet the nutrient deficiencies located in the soil within a field, planting cover crops can help reduce loss of nutrients. Cover crops are generally grown in a field between the times when a commodity crop is grown. As cover plants grow, they occupy and store nutrients, essentially preventing them from being lost from the runoff field or in other ways. Some cover crops can absorb nitrogen from the atmosphere, and can increase the amount of nitrogen in the soil in a field, thereby reducing the need for future fertilizer applications. In addition, the roots of cover crops can reduce soil compaction and reduce soil erosion. Because some time is required for germination, the ideal time to sow a cover crop in a corn field is after maturity, when the corn plants are tall and the leaves are beginning to develop or turn brown. Sowing at this time allows sufficient light for the growth of cover crops to penetrate the leaf canopy, allowing substantial growth of the cover crop to occur before the start of winter.
[014] More recently, there has been an interest in the use of small robotic vehicles on farms. The notion of a tractor that could navigate autonomously first appeared in the patent literature in the 1980s. For example, US patent No. 4,482,960, entitled "Robotic Tractors", describes a microcomputer method based on devices for automatic guiding tractors and other full size agricultural machines for the purpose of planting, tending and harvesting crops. A study carried out in 2006 concluded that the relatively high cost of navigation systems and the relatively small loads possible with small autonomous vehicles would make it extremely difficult to be cost-effective compared to more conventional agricultural methods. Consequently, many of the autonomous vehicles that have been developed are as big as conventional tractors.
[015] Despite the difficulty in maintaining cost effectiveness, a limited number of smaller agricultural robots have been developed. For example, Maruyama Mfg. Co has developed a small autonomous vehicle capable of navigating between crop lines. This vehicle, however, is limited to operating inside a greenhouse, and is not suitable for the uneven terrain typical of an agricultural field. Another example is US Patent No. 4,612,996, entitled "Robotic Agricultural System with Tractor Supported on Tracks", which discloses a robotic tractor that moves on rails, forming a grid over a cultivated area. However, the use of this system requires the installation of an elaborate and potentially expensive band system within the agricultural field. In addition, no system is designed to remove physical samples from crops, plant a second crop or a "cover crop" while the first crop is growing, or use a sensor system to alert the operator when the robot has a problem that you can't solve on your own.
[016] So what is needed in the industry is a device that can autonomously navigate between the rows planted on the uneven terrain of an agricultural field to perform management tasks in season, such as selectively taking physical crop samples, and sowing cover crops. when commodity crops grow to a time when the use of equipment pulled by tractor or high-purification machines is not feasible or desired by the farmer because of the potential risk of crop damage. In addition, what is needed by the industry is a device that can alert an operator or group of operators of encountering a problem, as an obstacle, and cannot solve the problem without intervention. SUMMARY OF THE INVENTION
[017] The modalities of the present disclosure meet the industry's need for a device that can autonomously navigate between the lines planted on the irregular terrain of an agricultural field and at the same time perform management tasks in the season, such as selectively taking physical samples of crops, and sowing cover crops, as well as alerting an operator that a problem is encountered, as an obstacle, that cannot be resolved without intervention.
[018] One modality of the present disclosure provides an autonomous vehicle platform to selectively perform a management task in season in an agricultural field, while self-navigation between rows of planted crops. The autonomous vehicle platform includes a vehicle base. The base vehicle has a length, width and height, in which the width is dimensioned so that it can be inserted through the space between two rows of crops planted. The base is coupled to at least a plurality of engaged wheels. At least one power train is fixedly connected to the base of the vehicle and operatively coupled to at least one of the coupling wheels on the ground. The vehicle also includes a seeding structure, a navigation module, and a microprocessor. The sowing structure includes an implement and mixer that penetrate the ground. The soil penetration implement is configured to collect the soil from the surface of the agricultural field. The mixer is configured to mix seeds with the collected soil to create seed balls. The sowing structure is also configured to distribute the seed balls in the agricultural field. The microprocessor is in communication with the navigation module and is programmed with a self-steering program to autonomously orient the autonomous vehicle platform while distributing the seed balls.
[019] One modality of the present disclosure provides an autonomous vehicle platform to selectively perform a season management task in an agricultural field, while self-browsing between cropped crop lines. The autonomous vehicle platform includes a vehicle base. The base vehicle has a length, width and height, in which the width is dimensioned so that it can be inserted through the space between two rows of planted crops. The base is coupled to a plurality of geared wheels. At least one power train is fixedly connected to the base of the vehicle and operatively coupled to at least one of the coupling wheels on the ground. The vehicle also includes a plant sampling structure, a navigation module, and a microprocessor. The plant sampling structure is configured to remove a physical sample from a crop planted for analysis. The mixer is configured to mix collected seeds with the soil to create seed balls. The sowing structure is further configured to distribute the seed balls in the agricultural field. The microprocessor is in communication with the navigation module and is programmed with a self-steering program to autonomously guide the autonomous vehicle platform during the removal of the physical sample from the planted culture.
[020] One modality of the present disclosure provides an autonomous vehicle platform system to selectively perform a season management task in an agricultural field, while self-navigation between planted crop lines. The autonomous vehicle platform system includes one or more autonomous vehicle platforms that have a vehicle base. The vehicle base has a length, width and height, in which the width is dimensioned so that it can be inserted through the space between two rows of planted crops. The vehicle also includes a navigation module, in-season management task module, and a microprocessor. The navigation module is in communication with sensors detecting one or more obstacles and is configured to check for navigation obstacles. The season management task module is configured to control the performance of one or more tasks. The microprocessor is in communication with the seasonal management task module and the navigation module. The microprocessor is programmed with a self-steering program to autonomously guide the autonomous vehicle platform when performing a management task in season. The microprocessor is also configured to alert an operator when a navigation obstacle is detected.
[021] The above summary is not intended to describe each illustrated modality or all the implementations of this disclosure. The figures and detailed description that follow exemplify these modalities more particularly. BRIEF DESCRIPTION OF THE DRAWINGS
[022] The invention can be more fully understood taking into account the detailed description of the various modalities of the invention below, in connection with the accompanying drawings, in which: Figure 1 is a side view of an autonomous vehicle platform according to an exemplary form of disclosure. Figure 2 is a rear view of the autonomous vehicle platform of Figure 1. Figure 3 is a perspective view of the autonomous vehicle platform of Figure 1. Figure 4 is a rear view of the platform of the autonomous vehicle of Figure 1. Figure 5 is a front view of the autonomous vehicle platform of Figure 1. Figure 6 is a right side view of the autonomous vehicle platform of Figure 1. Figure 7 is a left side view of the autonomous vehicle platform of Figure 1. Figure 8 is a perspective view of the autonomous vehicle platform of Figure 1. Figure 9 is a top view of the platform of the autonomous vehicle of Figure 1. Figure 10 is a top view of a tank of an autonomous vehicle platform according to an exemplary embodiment of the disclosure. Figure 10A is a cross-sectional view of the tank Figure 10. Figure 11 is a right side view of the tank Figure 10. Figure 12 is a right side view of an autonomous vehicle platform with an articulated frame according to an example of disclosure. Figure 12A is a close view of the coupling of Figure 12. Figure 13 is a top view of the platform of the autonomous vehicle of Figure 12 showing the maximum rotation angle between the first and second portions. Figure 14 is a schematic view illustrating the communication between an autonomous vehicle platform, a server, a portable computer, and another autonomous vehicle platform according to an exemplary form of disclosure. Figure 15 is a perspective view of an autonomous vehicle platform with a telescopic mast according to an example of the disclosure modality. Figures 16A-B are seen in perspective of an autonomous vehicle platform equipped with an aerial vehicle, according to an example of the disclosure modality. Figure 17 is a top view of an autonomous vehicle platform system that has a fertilization structure in accordance with an example embodiment of the invention. Figure 18 is a side view of an autonomous vehicle platform system that has a fertilization structure in accordance with an example embodiment of the invention. Figure 19 is a top view of an autonomous fertilizer application vehicle platform substantially between two rows of crops planted, according to an example embodiment of the invention. Figure 20 is a top view of an autonomous fertilizer application vehicle platform in the vicinity of the base of planted crops, according to an example of the embodiment of the invention. Figure 21 is a side view of an autonomous vehicle platform system that has a field mapping structure and a soil sampling structure according to an example embodiment of the invention. Figures 22-23 are a perspective view of an autonomous vehicle platform system, having a biomass sampling device, according to an example of the embodiment of the invention. Figure 24 is a side view of an autonomous vehicle platform system that has a seeding structure according to an example embodiment of the invention. Figure 25 is a perspective view of an autonomous vehicle platform system with a grid according to an example embodiment of the invention. Figure 26 is a perspective view of an autonomous vehicle platform system with a grain drill according to an example embodiment of the invention. Figures 27A-27B are schematic views of a mixture of seeds with other components according to an example of the embodiment of the invention. Figure 28 is a rear view of an adjustable spray nozzle for a liquid containing seeds according to an example of an embodiment of the invention. Figure 29 is a perspective view of a land penetration implement for collecting soil or biomass according to an example of the invention. Figure 30 is a schematic view of a mixer for mixing seeds with soil or biomass, according to an example of an embodiment of the invention. Figure 31 is a perspective view of an autonomous vehicle platform system having seed cannons according to an example embodiment of the invention. Figure 32 is a top view of an autonomous vehicle platform that plants seeds close to the base of planted crops, according to an example embodiment of the invention. Figure 33 is a top view of an autonomous vehicle platform system that has a seeding structure according to an example embodiment of the invention.
[023] While the invention is susceptible to modifications and different alternative forms, specific to them have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalent and alternative, that fit the spirit and scope of the invention as defined by the appended claims. DETAILED DESCRIPTION OF THE DRAWINGS
[024] Referring to Figures 1-2, an autonomous vehicle platform 100 operates on an agricultural field 102, and often between rows 104 of crops planted 106. Examples of crops planted 106 include corn, soybeans, peanuts, potatoes, sorghum, beet, sunflower, tobacco, cotton, as well as other fruits and vegetables. As conventional farm equipment (either pulled by tractor or self-propelled), the autonomous vehicle platform 100 is configured to perform various management tasks. However, unlike conventional agricultural equipment, autonomous vehicle platform 100 is capable of autonomous navigation between rows 104 of planted crops 106, and for taller crops potentially below the canopy formed by the leaves or canopy of planted crops 106, thus allowing performance management tasks when the height of the crops planted 106 prevents access to conventional agricultural equipment, or in other situations where conventional agricultural equipment cannot be easily operated.
[025] The autonomous vehicle platform 100 has a base 108 of the vehicle with a length L, width W and height H. The width W of the base vehicle 108 is dimensioned so that it can be inserted through the space between two rows 104 of crops planted 106. In one embodiment, the width W of the base vehicle 108 can be scaled to be less than about thirty (30) inches wide and can be used in conjunction with rows 104 of crops planted 106 thirty and six (36) inches wide (ie, 106 crops planted in 36 inch centers). In another embodiment, the width W of the base vehicle 108 can scale to about twenty (20) inches wide and can be used in conjunction with crop rows planted 106 thirty (30) inches wide. In one embodiment, the height H of the base vehicle 108 is dimensioned in such a way as to prevent interference with the canopy of the planted crops 106, thus allowing travel between lines 104 of tall planted crops 108, without being limited by the height of the crops. crops planted 104, or cause damage to crops planted 104.
[026] Referring to Figures 3-9, in one embodiment, the autonomous vehicle platform 100 has a plurality of ground contact wheels 110, rails, or some combination thereof to move through agricultural field 102. Wheels of contact with the soil can be operationally coupled to the base vehicle 108. Autonomous platform of the vehicle 100 can operate effectively in a whole range of surface conditions created by different cultivation methods (for example, no-tillage, poor preparation, strip cultivation and conventional tillage) and in different soil types 103 with different crops 106 planted in the previous year (ie, through a range of plant waste conditions). In addition, the autonomous vehicle platform 100 can operate on soils 103 that would be too wet by conventional equipment. Given the combination of relatively uneven surfaces and potentially soft soil conditions of some sort, the size of the ground contact wheels 110 is maximized. In one embodiment, the autonomous vehicle platform 100 has two or more wheels 110. For example, ground contact wheel 110 may be a drum whose width covers the width W of the base vehicle 106. In such an embodiment, the platform autonomous vehicle 100 may have as few as two ground contact wheels 110. In other embodiments, the autonomous vehicle platform 100 may include three or four ground contact wheels 110. A greater number of wheels may also be employed . In one embodiment, the autonomous vehicle platform 100 may have one or more tracks, possibly in combination with one or more ground contact wheels 110.
[027] The autonomous vehicle platform 100 has at least one powertrain 112 fixedly coupled to the base vehicle 108 and operably coupled to at least one ground contact wheel 110. In one embodiment, an internal combustion engine 114, diesel or gasoline, can be the main source of propeller 112. In another embodiment of a battery it can be the main source of energy for propeller 112. In yet another embodiment, a conventional engine 114 can be paired with a battery to create a hybrid power system; In this configuration, for example, the battery can power an electric motor 112 and the motor can charge the batteries. In one embodiment, the main power source for propeller 112 can operate continuously for more than 20 hours a day.
[028] Referring to Figures 10-11, in one embodiment, the autonomous vehicle platform 100 can include tank 116. In one embodiment, tank 116 can provide fuel for engine 114. Tank 116 can be used to transport other substances, instead of fuel, for example, tank 116 can be configured to transport fertilizer, agricultural chemicals, seeds, water, or a combination thereof, for use in performing station management functions. In one embodiment, tank 116 may contain a series of distinct subsections, where each subsection is dedicated to the storage of a particular substance. For example, a single tank can contain a first fuel storage subsection and a second liquid fertilizer storage subsection.
[029] Given the size limitations of the autonomous vehicle platform 100, particularly in the maximum width W and the maximum height H that will allow the platform of the autonomous vehicle 100 to be able to perform the various management tasks in the season between cultivated lines 104, of the tank 116 being restricted in size.
[030] In addition, taking into account the range of surface conditions that the platform of the autonomous vehicle 100 must traverse in operation, it is also important to maintain balance and a low center of gravity. Reduction in the total weight of the autonomous vehicle platform is also a consideration. In one embodiment, the tank 116 can be hung even with or below the center of the wheels 110, thereby lowering the center of gravity of the tank 116 and increasing the stability of the autonomous vehicle platform 100. In one embodiment, the base frame 118 vehicle 108 is integrated into tank 116. In this embodiment, tank 116 serves as a reservoir for a payload, as well as the structural support for the autonomous vehicle platform 100. In this embodiment, the combination of the tank and structure contributes to a center lower gravity.
[031] In one embodiment, the tank 116 may comprise in the closed internal space 170 within a series of rigid walls 172, in which at least a portion of the rigid walls 172 are configured to provide a structural support in addition to those necessary to define the space 170. Rigid internal walls 172 can be constructed of heavy gauge metal or other rigid material configured to withstand the external forces experienced from the autonomous vehicle's platform in operation without significant deformation, thereby preventing the requirement for additional support structure. Tank 116 can include one or more inlets 174, outlets 176 or valves 178 capable of creating a fluid connection between the inside and outside 170 of tank 116. In one embodiment, the rigid walls 172 include one or more motor assemblies 180 and one or more ground contact wheels mounted 182.
[032] In one embodiment, one or more deflectors 120 can be added to limit the tapping of the contents inside the tank 116. For example, in one embodiment, the deflector 120 can be run longitudinally along the vehicle base 108 separating to the right and left of the tank portion 116. In one embodiment, automated valves or pumps can be used to allow passage of the contents of the 116 tank from one compartment to another tank. For example, where a deflector 120 exists to separate the right and left portions of tank 116, if it is known that the platform of the autonomous vehicle 100 will soon encounter a lateral tilt, the contents of tank 116 can be transferred from one side to the another to improve stability.
[033] Referring to Figures 12-13, in one embodiment, the vehicle base 108 can be articulated. In particular, in addition to the size, balance and weight restrictions noted above, the autonomous vehicle platform 100 is also required to perform tight turns to avoid excessive damage to the planted crops 106 when moving from one planted line 104 to the next. In addition, the autonomous vehicle platform 100 is expected to make these laps in a timely manner, without a significant delay. Therefore, in one embodiment, the vehicle base 108 includes a plurality of portions or sections hingedly coupled to each other. In this way, a portion articulated with respect to the other portion of the platform allows autonomous vehicle 100 to decrease its radius of curve. In addition, actively rotating one part relative to another part allows the autonomous vehicle platform 100 to orient itself. By articulating the frame 118 for the steering, it is possible to avoid the need for wheels with independent steering that rotate in relation to the frame 118 and protruding beyond the autonomous vehicle platform the width W when turning or steering between the lines. Therefore, in one embodiment, the articulation structure 118 allows tight curves at the end of the line or direction between lines with steering angle adjustments that can be made without the wheels sticking out of frame 118, thus allowing for the maximization of width W of the autonomous vehicle platform for a given spacing, as well as a low center of gravity for a given payload.
[034] In one embodiment, the vehicle base 108 consists of a first portion 108A and a second portion 108B, wherein the first portion 108A is pivotally coupled to the second portion 108B via coupling 109. In one embodiment, coupling 109 it can be an articulated coupling that activates the use of the hydraulic fluid to forcibly rotate the first part 108A in relation to the second part 108B. For example, in one embodiment, coupling 109 may be a hydraulically powered assembly. In another embodiment, coupling 109 may be an electric steering motor. When the vehicle base 108 includes a plurality of portions, each portion may comprise a separate tank 116. In some embodiments, the vehicle base frame 118 is integrated into the plurality of tanks 116A and 116B.
[035] In one embodiment, coupling 109 allows the first portion 108A to rotate relative to the second portion 108B substantially over a single plane of movement, thus allowing the autonomous vehicle platform to have a tighter radius of the shift. First portion 108A can be pivoted with respect to second portion 108B for a maximum angle of θ in any direction. In a mode θ it can be substantially equal to 60 degrees. In another embodiment, coupling 109 allows first portion 108A to rotate relative to second portion 108B substantially along two planes of motion, thus allowing both a tighter radius and in turn greater flexibility when traversing a mound or other uneven terrain. In another embodiment, coupling 109 allows the first portion 108A to be twisted to rotate relative to the second portion 108B, thereby increasing stability and contact with the ground when crossing uneven terrain.
[036] Although Figures 12-13 describe an autonomous vehicle platform base 108 with two portions of 108A, 108B hingedly connected by an articulated coupling 109, autonomous vehicle platform base 108 can, in some embodiments include additional portions. For example, in one embodiment, the platform base of the autonomous vehicle 108 may include a third portion, which thus extends the payload of at least one third, while not impacting the turning radius of the third portion in the ranges of the two first parts. In another embodiment, the base autonomous vehicle of platform 108 may include more than three portions.
[037] Referring to figure 14, in an embodiment, the autonomous vehicle platform 100 includes a microprocessor 122 in communication with several modules, in which each module is built, programmed, configured, or otherwise adapted to perform a function or set of functions. The term module as used herein means a real-world device, the component, or an arrangement of components implemented using hardware, or as a combination of hardware and software, such as by a microprocessor and a set of program instructions, which adapt the module to implement, namely, the functionality, which when executed turns the microprocessor system into a device for special purposes. A module can also be implemented as a combination of the two, with certain hardware functions facilitated by itself, and other functions facilitated by a combination of hardware and software. In certain implementations, at least a portion and, in some cases, all, of a module can be run on microprocessor 122. Therefore, each module can be made in a variety of suitable configurations, and generally should not be limited to any application. particular, exemplified here, unless such limitations are expressly called. In addition, a module can itself be composed of more than one submodule, each of which can be considered as a module in its own right. In addition, in the modalities described here, each of the various modules corresponds to a defined functionality; However, it should be understood that, in other modalities contemplated, each feature described can be distributed to more than one module. Likewise, in other embodiments contemplated, several defined features can be implemented by a single module that performs these multiple functions, possibly in conjunction with other functions, or distributed differently, among a set of modules specifically illustrated in the examples presented here.
[038] In one embodiment, the autonomous vehicle platform 100 has a navigation module 124. The navigation module 124 can be configured to receive field guidance information and detect obstacles using a variety of elements, including existing data on a given agricultural field 102, as well as navigation data acquired in real time, such as data acquired through on-board cameras, radio communication with a base station, and GPS global positioning system units. A mast 126 (as shown in Figures 3 and 6) can function as an antenna and can be in communication with the navigation module 124 to allow a wide range and improved reception under the canopy of the planted crops 106.
[039] Microprocessor 122 can be programmed with a self-steering program and can be in communication with navigation module 124 and other instruments or modules, to autonomously navigate the autonomous vehicle platform, and to avoid other autonomous vehicle platforms 100, while selectively performing various management tasks in season based in part on received field guidance information and obstacles detected. With increasing levels of automation, including full autonomy, the need for robust obstacle detection is desirable. For example, an agricultural field 102 may contain various rocks, debris and other objects that may obstruct the movement of the autonomous vehicle platform 100. Small animals, including pets, as well as young and old humans, can also be found by autonomous vehicle platform 100. The autonomous vehicle platform 100 may have on-board capabilities to detect, avoid, navigate around or navigate as appropriate over a series of obstacles like these. In addition, when more than one autonomous vehicle platform 100 is autonomously navigating an agricultural field, the autonomous vehicle platform 100 can communicate with other autonomous vehicle platforms 100 in order to coordinate activities and avoid collisions via the communications module. 123.
[040] Referring to Figure 15, in one embodiment, the on-board capabilities to detect, avoid, navigate around, or navigate as appropriate over an obstacle range may include a 175 sensor, such as one or more cameras , infrared sensors, ultrasonic sensors, or a combination thereof. In one embodiment, sensor 175 is mounted on the top of a tower or telescopic mast 127. Telescopic or mast towers 127 can be deployed periodically, or only when necessary. In another embodiment, mast 127 can be implemented in a partially or fully extended state during long periods of operation.
[041] Referring to Figures 16A-B, to promote help in solving a problem of navigation and obstacle detection, especially humans and other living creatures that can quickly move in the danger zone, the autonomous vehicle platform 100 or system 200 may be in communication with one or more air vehicles 170. Air vehicle 170 may, for example, be an autonomous robot capable of extending the field of view to autonomous vehicle platforms 100 or system 200. In one embodiment, the vehicle aerial 170 may include one or more cameras or sensors configured to at least capture an image of agricultural field 102, where an autonomous vehicle platform 100 is operating. Processing of the images captured by the autonomous vehicle platform 100 can be performed on aerial vehicle 170, on one or more autonomous vehicle platforms 100, at a base station, or a combination thereof.
[042] In some modalities, the air vehicle 170 is implemented continuously. In other embodiments, air vehicle 170 is deployed periodically or on a basis as needed. Aerial vehicle 170 may be in communication with system 200 and autonomous vehicle platform 100 to receive location information. The aerial vehicle 170 can be totally independent of autonomous vehicle platforms 100 or can be assigned to a specific platform 100. In one embodiment, the autonomous vehicle platform 100 includes a docking platform 174 for aerial vehicle 170. The docking platform 174 may include a connection for recharging the power source of the aerial vehicle 170. In another embodiment, the aerial vehicle 170 can be connected via a cable 173 to an autonomous vehicle platform 100. In this embodiment, the autonomous vehicle platform 100 remains in position while air vehicle 170 is deployed. In other embodiments, the autonomous vehicle platform 100 continues to perform its assigned task while aerial vehicle 170 is deployed. In one embodiment, the same operator or a team of operators who control autonomous vehicle platforms 100 or system 200 can also control aerial vehicle 170.
[043] Referring again to Figure 14, the autonomous vehicle platform 100 may have a user interface module 128 in communication with microprocessor 122, configured to transmit microprocessor data to a user or operator of an autonomous vehicle platform 100, and further configured to receive command data from the user of the autonomous vehicle platform 100 to selectively replace the self-steering program. In some embodiments, user interface module 128 transmits and receives data from server 182. In another embodiment, user interface module 128 transmits and receives data directly from a laptop computer 181, such as a laptop computer , device or tablet. In one mode, an operator can receive video, images and other sensor data remotely via wireless communications and send control signals to selectively replace the automation of the autonomous vehicle platform 100. In one mode, the operator can selectively interact in time real, through an application on portable computer 181, which communicates directly or indirectly through server 182, with the platform of the autonomous vehicle 100 from a location on site, or at a remote location, such as the contractor service or headquarters of the farm.
[044] In one mode, the 100 autonomous vehicle platform periodically reports its state or condition. For example, the autonomous vehicle platform 100 can communicate a status update to an operator or group of remote operators every 30 seconds. In most cases these status updates are relatively simple, for example, an update can show that the autonomous vehicle platform 100 is operating normally or indicate what percentage of a task has been completed. However, in the event that the autonomous vehicle platform 100 encounters a situation that cannot be resolved autonomously, or an alert message can be forwarded to an operator for assistance. These situations include, among other things, that an alert that the autonomous vehicle platform 100 has encountered an obstacle, that autonomous vehicle platform 100 is experiencing an unplanned downtime, that a malfunction is impacting the proper functioning of the platform. autonomous vehicle 100, or that a notification that the cargo or fuel supplying the autonomous vehicle platform 100 is running out. Such a message may include, for example, information that the autonomous vehicle platform 100 or system 200 has been interrupted for a particular reason, one or more images of a situation that the autonomous vehicle platform 100 has encountered a variety of statistics such as the title, traction, engine status, tank status, angle of inclination, a video or series of images of the last few seconds of operation before the message was forwarded, or a combination of these. Using this information, in one mode, the operator or team operators can remotely resolve the situation. For example, the operator can select one of several pre-programmed commands or options, such as the standby position, breaking crops planted 106 and going to the next row, or backwards and starts again in the adjacent corridor. In addition, the operator can take remote control of the autonomous vehicle platform 100 and drive it for the specified period of time to get it out of the situation.
[045] When more than one autonomous vehicle platform 100 encounters a situation and multiple messages are sent around the same time, the messages can be prioritized by server 182 or laptop computer 181, so that the situations considered most critical can be dealt with in the proper order. In addition to the processing and display of navigation, status and situation alert information, the server 182 or portable computer 181 can also store this data for each autonomous vehicle platform 100 to be used to create a map or chart to illustrate the frequency and the location of the problems encountered. A map created from such data or other information, such as the proximity of a country house, can be used to assess multiple autonomous vehicle platforms 100 in terms of the potential risk of encountering obstacles and can also be used in the establishment priorities of several status messages received around the same time.
[046] With reference to Figure 17, in one embodiment, one or more autonomous vehicle platform 100 may be used together in an autonomous vehicle platform system 200. In one embodiment, the autonomous vehicle platform system may further comprise a refill station 130. The refill station 130 can include a refill tank 131 and a refill applicator 129. In one embodiment, the refill station 130 can have one or more retractable hoses that can be pulled in several lines 104 of the agricultural field 102 so that the refill applicator is some distance from the reservoir. In one embodiment, a refill station 130 may have a plurality of retractable flexible tubes, creating multiple refill locations for a single refill tank 116.
[047] The autonomous vehicle platform 100 can be programmed to periodically return to the refill station 130. In one embodiment, the autonomous vehicle platform 100 can be programmed to compare the criteria status of the autonomous vehicle platform to a programmed limit. , and to return to a refill station 130 for maintenance when the status of the autonomous vehicle platform criteria is within the programmed limit. For example, the autonomous vehicle platform 100 can be programmed with a low fuel or fertilizer threshold; when the autonomous vehicle platform 100 feels that the actual amount of fuel or fertilizer is equal to or less than the programmed low threshold, the autonomous vehicle platform 100 can autonomously navigate to refill station 130. In one embodiment, a plurality of platforms autonomous vehicle 100 communicates with each other to avoid conflicts when they return to refill station 130 to recharge their supply of agricultural chemicals, seeds, fuel, water or other supplies.
[048] In one embodiment, the placement of the refill station 130 can be guided by a logistics software program. The logistics software can be loaded on microprocessor 122, server 182, portable computer 181, or a combination of these. The logistics software program can explain the expected quantities of supplies to be used. These anticipated quantities can be computed using a variety of inputs, including field layout, topography, soil conditions and predicted weather conditions, and other conditions that can increase or decrease the amount of fuel, fertilizers, pesticides, seeds, water or combination of these to be used. In one embodiment, the purpose of the logistics software is to minimize the time that a given autonomous vehicle platform 100 travels to and from refill station 130 to refill tank 116. In one embodiment, the logistics software is linked to operation one or more autonomous vehicle platforms 100 to perform a management task during the season. For example, in one mode, the logistics software can provide changes to an operator or a team of operators from where they position refueling stations 130 in relation to agricultural field 102, where each of the autonomous vehicle platforms 100 must be initially positioned in in relation to agricultural field 102, and when and where autonomous vehicle platforms 100 are to be moved, once the assigned task is completed.
[049] Among other logistical solutions necessary for optimal operation, the autonomous vehicle platform 100 can carry a pre-calculated load needed to complete a season management task from the perspective of refill station 130. The pre-calculated amount of fuel and fertilizer goes hand-in-hand with dimensioning appropriately to tank 116. Pre-calculation of the quantities of fuel, fertilizers, pesticides, seeds, water, or a combination of these mitigates the possibility of the autonomous vehicle platform 100 having to transit more than once on the same path between lines 104.
[050] Referring to Figures 18-33, in an autonomous vehicle platform modality 100 it may include a station structure of management task 132. In one embodiment, the station structure of management task 132 is one of a structure fertilization structure, a protective chemical application structure, a structure mapping field, a sampling soil structure, a seeding structure, and a combination of these. The term "management task station structure" is not intended to limit the variety of single management task applications to the time period during the season; instead, the term is used to indicate that the variety of task management applications can also be used at other times. For example, the autonomous vehicle platform 100 can be used to automate some functions, such as fertilization, the application of protective chemicals, mapping, soil sampling, seeding, and a combination of these, out of time in the season, as well as during the time period during the season.
[051] With special reference to Figure 18, in one embodiment, the autonomous vehicle platform 100 may include a fertilization structure 134. In one embodiment, the fertilization structure 134 may comprise a fertilizer tank 136, a fertilizer applicator 138 and a fertilization module 140. In one embodiment, tank 116 may comprise a fertilization tank 136. Fertilization structure 134 may be in communication with microprocessor 122, through fertilization module 140. Fertilizer applicator 138 may be configured to selectively apply fertilizer to the soil 103 of an agricultural field 102 or base of planted crops 106. The fertilizer applicator 138 can be positioned in front of, under, or behind wheels 110 (or tracks), or on wheels 110 of the autonomous vehicle platform 100.
[052] The autonomous vehicle platform 100 can use a liquid fertilizer known as UAN (urea and ammonium nitrate), another liquid, dry, or granular fertilizer. In one embodiment, the fertilization tank 136 can contain less than 20 liters of UAN. In another embodiment, fertilizer tank 136 can contain less than 40 liters of UAN. In another embodiment, the fertilization tank 136 can contain less than 50 liters of UAN. In embodiments that include an articulated base with a plurality of portions, the fertilizer tank can contain more than 50 liters of UAN. The fertilization tank 136 can be pressurized by compressed air, which can be supplied from a central compressor to assist in the supply of fertilizer. Alternatively, the fertilizer can be pumped from the fertilization tank 136 to the fertilizer applicators 138. Automated valves and pumps can also be used to inject the fertilizer solution into the soil 103.
[053] With special reference to Figure 19, in some embodiments, the fertilizer can be applied substantially between two rows 104 of crops planted 106; in this way the autonomous vehicle platform 100 effectively treats one half of each row of the planted crop 106. With special reference to Figure 20, in another embodiment, the fertilizer can be applied in a combination of positions, including one or more locations beyond substantially between two rows 104 of planted crops 106, including the application of fertilizers in the vicinity of the base of planted crops 106. In this way the autonomous vehicle platform 100 effectively treats two rows of planted crops 106 at each pass, thus doubling its coverage in comparison to fertilization substantially between two rows 104 of crops planted 106.
[054] Referring again to Figure 18, depending on a number of variables, including soil type, soil moisture and plant residues, several approaches can be used for fertilizer application. In one embodiment, the autonomous vehicle platform 100 may include a spray nozzle 142 for spraying fertilizer on soil 103. In one embodiment, the autonomous vehicle platform 100 may include a circular disc, or plough 144, which grooves cut into the soil 103 The fertilizer can be sprayed into this groove directly behind the coulter 144. In one embodiment, a protective metal knife can be used directly behind the coulter 144, with a tube passing down behind the knife to introduce the solution of soil fertilizer 103. In some embodiments, weights can be added to the platform of the autonomous vehicle 100 to ensure sufficient downward pressure to operate the coulter 144.
[055] In another embodiment, the autonomous vehicle platform 100 can apply dry fertilizer pellets in a precise manner directly in the vicinity of the base of a planted crop 106 or substantially between the lines of planted crops 108, for example, by diffusion of pellets, or by injecting the granules of several inches into the soil in a way that does not damage the root system of the crop. In one embodiment, a bearing, a spiked cylinder is used for this purpose. In another modality, the autonomous vehicle platform 100 "shoots" pellets on the ground using a high pressure air system much like that found in air rifles that fire a BB or a pellet. Fertilizer can be applied on both sides of the autonomous vehicle platform 100 between the lines (as shown in Figure 19) or in several lines (as shown in Figure 20).
[056] When a UAN solution is sprayed in the vicinity of the base of planted crops 106, a stabilizer can be added to prevent hydrolysis of urea to gaseous ammonia lost to the atmosphere through volatilization. However, rain or irrigation water following fertilizer application can eliminate the need to treat UNA with a stabilizer. A spray focused to specifically avoid crop residue requests can eliminate the amount of fertilizers inadvertently immobilized. In one embodiment, the sprayer can be concentrated under high pressure to inject at least partially the fertilizer below the surface of the soil 103. In such embodiments, the liquid fertilizer can be applied between the lines (as shown in Figure 19) or in several rows (as shown in Figure 20).
[057] In addition, the application of fertilizer such as a sprayer in the vicinity of the base of planted crops 104, the autonomous vehicle platform 100 can follow the application of fertilizers with a spray of water, such as "simulated rain". In other modalities, the fertilizer can be mixed with water or another additive, before being applied to the soil. Thus, the autonomous vehicle platform 100 can have two reservoirs, one for fertilizer and one for water. The application of simulated rain helps to wash UAN fertilizers in the soil, thereby reducing the hydrolysis of the soil surface 103.
[058] In yet another modality, the fertilizer can be mixed with the soil or other material to form a fertilizer ball that can be distributed, injected, or thrown into the soil 103. The description of the seed mix of hedging plants soil with or of other material also applies to the creation of seed balls described below.
[059] In one embodiment, the autonomous vehicle platform 100 can monitor fertilization. For example, monitoring the flow of nutrients to the soil 103 can be provided to a user during fertilization operations. In one embodiment, the autonomous vehicle platform 100 can detect and correct a situation where the soil 103 is stuck to the fertilizer applicator 138, spray nozzle 142, 144 coulter, or other parts of the fertilization structure 134. In one embodiment, the autonomous vehicle platform 100 can be equipped to monitor the depth at which the fertilizer is injected.
[060] Use of the autonomous vehicle platform 100 can also be guided by external inputs, such as time data. For example, a decision on whether to fertilize at a given point in time can be influenced by data inputs such as time that ultimately predict the effectiveness of fertilizer application within a given time window. For example, fertilization operations at the beginning of the season can be delayed if a rain storm is predicted to wash a substantial portion of the fertilizer added out of the field. Alternatively, other times, fertilization applications can be scheduled in advance of a rain storm if predicted moisture would help move the fertilizer down through the soil profile to the crop roots.
[061] In some embodiments, the autonomous vehicle platform may include a protective chemical application structure, configured to apply one of a herbicide, a pesticide, a fungicide, or a combination thereof for planted crops 104 or other vegetation including unwanted weeds. In some embodiments, the autonomous vehicle platform 100 can detect that planted crops 104 need a particular protective chemical or combination thereof and that protective chemicals or combination thereof are applied using a spray on a mast or a robotic arm. Such an approach may have the potential to reduce the volume of protective chemicals applied.
[062] With special reference to Figure 21, in one embodiment, the autonomous vehicle platform 100 can include a field mapping structure 146, configured to map planted culture conditions 108, as well as other parameters. In one embodiment, the purpose of the field mapping structure 146 is to guide the application of fertilizers. For example, in areas where the crop 106 indicates that more or less nutrient conditions are required, the autonomous vehicle platform 100 can adjust the fertilizer output as needed.
[063] In one embodiment, the fertilization structure 146 can comprise a field mapping module 148 and one or more sensors 150 configured to monitor the conditions of a planted crop 106. For example, sensor 150 can use optical measurements or others to determine the abundance of plant pigments, such as chlorophyll, or other important parameters. In one embodiment, sensor 150 can observe crop conditions planted below 108. In another embodiment, sensor 150 can be mounted on a robotic arm 152 and observe crop conditions planted 106 above autonomous vehicle platform 100. In one embodiment , the mapping module 148 and the sensor 150 can be in communication with the microprocessor 122.
[064] In one embodiment, the autonomous vehicle platform 100 may include a soil sampling structure 154, configured to measure soil conditions, as well as other parameters. In one embodiment, the purpose of the soil sampling structure 154 is to guide the application of fertilizers. For example, in areas where soil 103 indicates that more or less nutrient conditions are required, the autonomous vehicle platform 100 can adjust the fertilizer output as needed. In one embodiment, the soil sampling structure 103 may comprise a soil sampling module 156 and one or more soil probes 158 configured to monitor soil conditions 103. In one embodiment, the soil sampling module 156 and soil probe 158 can be in communication with microprocessor 122. In one embodiment, the autonomous vehicle platform 100 can insert the soil probe 158 into soil 103, while observing planted crop conditions 106 via sensor 150.
[065] With special reference to the figures. 22-23, in some embodiments, the autonomous vehicle platform 100 may include a device, such as a leaf clip 184 or leaf perforator 186, for the physical sampling of the planted crops 106. While the autonomous vehicle platform 100 is traveling through of cultured lines 104, or while it is stationary, the robotic arm 152 can manipulate device 184, 186 to the position for collecting a biomass sample. In addition, sampling can be performed at various times of the planted crops 106- as some crops tend to show different leaf characteristics at the top of the plant (for example, corn first shows nitrogen deficiency in its lower leaves because the plant moves upwards to the nitrogen that is exposed to more sunlight). Then, the physical sample can be analyzed on the autonomous vehicle platform 100 or cataloged or marked for further analysis.
[066] Physical samples analyzed in agricultural field 102 can be subjected to a light absorption measurement, the information obtained from this process is useful in estimating the plant's chlorophyll, which can be used to predict the nitrogen sufficiency of a plant. plant. Where the autonomous vehicle platform 100 is the application of fertilizers and it is found that planted crops 106 are lagging behind crops planted in other parts of the field, the amount of fertilizer dispensed can be increased to increase local nitrogen levels. In other modalities, the NDVI test information is recorded for later use.
[067] In one embodiment, the autonomous vehicle platform 100 can be programmed with an algorithm to improve the efficiency of real-time system monitoring. For example, if the autonomous vehicle platform 100 is programmed to periodically stop to make measurements, the algorithm can analyze these measurements to determine the amount that can vary from one another. Where adjacent measurements do not vary substantially, the algorithm can enable the autonomous vehicle platform 100 to increase the distance between the monitoring locations, thereby effectively speeding up the monitoring process.
[068] In addition to the data collected through sensor 150 and soil probe 158, data from crop planting operations can be used to create a "base map" from which the autonomous vehicle platform 100 can navigate. Such a base map can detail the precise location of individual lines 104 of planted culture 106, or even the location of individual plants 106.
[069] In some modalities, the map can take advantage of data from existing farmers. For example, it is well known that farmers are increasingly using GPS systems during their planting operations, sometimes referred to as a "map as planted". In many cases, these maps show the layout of the lines in a field. In the event that a "map as planted" is available, field mapping module 148, autonomous vehicle platform 100 or other system component 200, can access the "map as planted" to provide information to guide the vehicle platform autonomous 100 in agricultural field 102.
[070] Generated maps can also include obstacles. For example, in one embodiment, the field mapping module 148 can work in cooperation with the image capabilities of the sensor 175 or air vehicle 170 for the purpose of producing an accurate map in real time. The base map can also describe 103 soil types and topography fields including measurements made using LIDAR that describes drainage patterns in a field. A user can also interact with the map, through an interface, adding specialized knowledge. For example, the existence of different crop varieties or typically wet areas can be added by the user.
[071] With special reference to Figure 24, in one embodiment, the autonomous vehicle platform 100 can include a sowing structure 160. Sowing structure 160 can be configured to sow a cover crop under tall planted crops 106. In a In this embodiment, structure 160 may comprise a seed reservoir 162, a sowing attachment 164, and a seed seeding module 166. Reservoir 162 can be coupled to the base of vehicle 108 and configured to contain a seed reservoir. In a modality of the tank 116 it can comprise a seed reservoir 162. The seeds can be distributed to the earth through a sowing attachment 164. Sowing module 166 can be in communication with the microprocessor 122. In one modality, the sowing can be carried out while fertilizing, or in combination with other management tasks. In another mode, sowing can be carried out independently of other management tasks in the season. With special reference to Figure 25, in one embodiment, the seeds can be worked on the soil again, using a variety of common soil treatment methods, such as using a 188 grid or rake to work the seeds through any residue of harvest on the field surface. Use of a 188 grid can be combined with, for example, a diffusion seeder, an air seeder, a seed cannon, a spinner seeder, or a combination thereof.
[072] With special reference to Figure 26, in order to provide good seed-soil contact, in some modalities, the autonomous vehicle platform 100 can be equipped with a 190 grain drill. In one mode, the grain drill 190 may include a seed hopper 192 for loading and transporting seeds, one or more disks 198 for opening the soil, one or more sowing tubes 194 for distributing seeds to the soil, and one or more closing wheels . Grain drill bit 188 works by cutting one or more narrow grooves in the soil 103, dropping seeds or seed balls into the groove, and then closing the groove, using, for example, a rubber locking wheel . The use of a 188 grain drill allows the penetration of crop residue over the soil surface, as well as a high precision propagation operation, which maximizes the use of the seeds. In some embodiments, the grain drill 188 is configured to move vertically up and down to control the depth of the sowing groove. In one embodiment, the grain drill 190 is attached to a third base portion 108.
[073] With special reference to the figures. 27A-B and 28, in one embodiment the seeds can be mixed in an aqueous solution or another liquid solution to promote good seed contact in the soil. In this embodiment, the water or liquid solution containing the seeds can be directed to the soil 103 to spray a stream or throw a series of drops containing seeds, thus allowing the seed solution to penetrate the surface of the soil 103. In In some embodiments, the seed solution can be sprayed or fired out of a nozzle 210. The nozzle 210 can be rotated relative to the platform of the autonomous vehicle 100 to provide a more controlled or evenly distributed seeding area.
[074] In other modalities, other constituents, for example, soil, plant biomass or their combination can be added to the seed mixture to promote good seed contact in the soil. With special reference to Figure 29, in some embodiments, the autonomous vehicle platform 100 can be equipped with a hitch attachment on the ground 212 to scrape a portion of the soil or plant biomass that has fallen from the field during the execution of the management task to replenish the amount of constituents needed to create the seed mixture. In other embodiments, periodically, all or part of one of the planted crops 106 can be harvested, chopped, ground or crushed, and used to replenish the amount of constitution.
[075] In one embodiment, the soil hitch attachment 212 may include a support drum 214 and accumulating matter surrounded by a plurality of shovel or soil collection tubes 216 or biomass. In this embodiment, the drum 214 can be positioned firmly against the surface of the field with the aid of one or more mechanical actuators, for example, a hydraulic actuator. As a 100-movement autonomous vehicle platform and drum 214 rotates across the floor, tubes 216 will come in contact with the floor and fill with matter. Thereafter, each time a respective tube 216 contacts the floor, the layer of matter inside the tube 216 will be pushed further in towards the center of the drum 214. The material collected in the center of the cylinder 214 can be transported to other parts of the autonomous vehicle platform 100 by auger 218.
[076] With special reference to Figure 30, the material collected by the soil hitch implement 212 can be transported to the mixer 220 to create a mixture of the components. In one embodiment, the combined mixture can be formed into agglomerates or balls. Mixer 220 may include mixing the seed inlet 222, 224, inlet material 226, 228 inlet liquid, and outlet 230. Mixing in this embodiment, from seed inlet 224 seeds and soil or the plant's biomass from the input material 226 are mixed together in rotation of the mixing drum 222, while a liquid such as water, corn syrup, or other substance to increase the bond is added through the input of liquid 228 to form a mixture of the components. As the drum mixture 222 rotates the mixture, it is divided into smaller pieces, which, after spending a certain period of time inside the rotating mixing drum 222 take the form of a ball of dough or rounded seed. The seed balls exit the mixing drum 222 through the mixing outlet 230, where they can be collected or transported to a planting mechanism. Thereafter, in one embodiment, the seeds embedded within the seed balls having sufficient moisture and nutrients to allow germination, without the need to ensure the same level of seed contact in the soil, as necessary when planting seeds alone.
[077] With special reference to the figures. 31-33, in one embodiment, the autonomous vehicle platform 100 may include an air seeder 232 or one or more seeding cannons 240. Air seeder 232 may include a seed metering mechanism and blower 234, a seeds 236, and a collector 238. In this embodiment, the seeds are distributed to sow close to the dosing mechanism 234, where they are blown through tube 236 at a calibrated speed of collector 238. Collector 238 can include one or more configured holes to design the seeds or seed spheres in a pattern to cover between the lines (as shown in Figure 19) or in multiple lines (as shown in Figure 20). Seed cannons 240 work under a similar concept, but have the added advantage of allowing seeds or seed balls to be projected at a speed sufficient to penetrate the soil surface to ensure good soil-seed contact. As shown in Figure 33, seed cannons 240 and air seeder holes 232 can be directional to allow seeding in a specific direction or range of angles.
[078] In operation, a user can issue one or more autonomous vehicle platforms 100 to an agricultural field 102, position a refill station 130 in the vicinity of agricultural area 102, and direct one or more autonomous vehicle platforms 100 to the field 102 and refill station 130. This may involve the user placing one or more of the autonomous vehicle platforms 100 in manual mode and driving one or more of the autonomous vehicle platforms 100 to an anchoring position in the refill station 130, however, this is just an example of how to record the recharge station 130 location within the navigation module 100 of each autonomous vehicle platform 124.
[079] After delivery, the autonomous vehicle platform self-steering program 100 can be activated. Autonomous vehicle platform 100 can navigate to a starting point and start navigating between rows 104 of crops planted 106 when performing a management task in season. In some modalities, the platform 100 autonomous vehicle can be operated by a service provider that contracts with farmers to perform management tasks in the season. In some circumstances, in particular, areas of agricultural field 102 may be omitted if previous monitoring has revealed that the crop will not benefit from the fertilizer added in that area. In other circumstances, specific areas of agricultural field 102 can be fertilized for the express purpose of monitoring the response of planted crops 104 over the following days, such monitoring of a response can be used to guide fertilizer application to the rest of the field .
[080] Moving one or more autonomous vehicle platforms 100 and charging stations 130 from field to field can be guided by one or more computers or to web-based software programs that a user can access via smartphone, tablet, interface at the station base, or personal computer from a location on site, or at a remote location, such as the service contractor or the farm headquarters. Such a program can report on the progress made by the autonomous vehicle platform 100 in a given agricultural area 102, as well as global statistics for a given period of time. Consequently, the user can prioritize treatment fields. Based, in part, on a user's input, the program can determine the most efficient periodicity for refilling tank 116 and at which refueling stations 130 are to be located. Through this program, the user is prompted at the appropriate time to start the refill process or move a refill station 130 in such a way that the autonomous vehicle platforms 100 can operate as continuously as possible. The logistics software can also schedule maintenance and transportation between agricultural fields 102 of the autonomous vehicle platforms 100. The purpose of the logistics software is to minimize the time that each given autonomous vehicle platform 100 is: traveling between fields, traveling to and from the refill station 130, waiting in line to be refilled, or is otherwise not performing the management tasks in the season.
[081] In one embodiment, one or more autonomous vehicle platforms 100 or system 200 can be used to provide services to farmers, including the application of fertilizers and specialized chemicals, such as pesticides. In such a configuration, the operation of one or more autonomous vehicle platforms 100 can be referred to as robots as a service (SRAA). In some modalities, a farmer or his agent can determine a field prescription, or specific instructions for carrying out a particular treatment or set of treatments. In some modalities of field prescription it may be simple, for example, a uniform application rate across the field e. In other modalities the field prescription can be relatively detailed, including, for example, a GIS map of the field that indicates a range of fertilizer needed to be applied specifically to specific locations on the GIS map. Service companies incorporate such prescriptions into their workflow for completing treatment in a given field. In cases in the field mapping structure 134 provides useful real-time information, a recipe can be updated or modified during operation.
[082] In operation, a team of operators, for example, three eight-hour shifts of two people each full shift comprising a team, trips from the agricultural field to the agricultural field, while supervising the 200 system. In one mode, the system 200 can comprise twenty autonomous vehicle platforms 100 working to achieve a common task. In this modality, the team falls out of the autonomous vehicle platforms 100 and other components in the agricultural domain 102, sets up the system 200, and begins the execution of the medical prescription, requested service or in the management task season. During execution, the team monitors progress and the condition of the individual 200-component system, including responding to requests for assistance by particular 100 autonomous vehicle platforms while the service is running. The team can also configure one or more 100 autonomous vehicle platforms or systems in one or more fields. Upon completion of the task, the team retrieves the 200-component system.
[083] Modalities of the present invention are discussed in detail below. When describing modalities, specific terminology is used for the sake of clarity. However, the present invention is not intended to be limited to specific terminology, in a selected manner. One skilled in the pertinent art will recognize that other equivalent pieces can be employed other methods and development without separating the spirit and scope of the present disclosure.

权利要求:
Claims (12)
[0001]
1. Autonomous vehicle platform (100), CHARACTERIZED by the fact that it is for the selective sampling of crops planted in an agricultural field, while self-browsing between rows of planted crops, comprising: a vehicle base (108) that has a width of 92 cm (36 inches) or less so that it can be inserted through the space between two rows of planted crops coupled to at least a plurality of wheels in contact with the soil (110); at least one thruster (112) fixedly coupled to the base of the vehicle (108) and operatively coupled to at least one of the ground contact wheels (110); a plant sampling structure (184, 186) configured to remove a physical sample from a crop planted for analysis; a navigation module (124); and a microprocessor (122) in communication with the navigation module (124) and programmed with a self-steering program to autonomously orient the autonomous vehicle platform (100) during the removal of the physical sample from the planted culture.
[0002]
2. Autonomous vehicle platform system (200), CHARACTERIZED by the fact that it is to manage the actions of one or more autonomous vehicle platforms (100) while autobaving between planted crop lines, comprising: one or more autonomous vehicle platforms ( 100) comprising: a base (108) having a width of 92 cm (36 inches) or less so that it can be inserted through the space between two rows of planted crops; a navigation module (124) in communication with one or more obstacle detection sensors (172), the navigation module (124) configured to examine navigation obstacles; a seasonal management task module (140, 148, 166) configured to monitor the performance of one or more tasks; and a microprocessor (122) in communication with the seasonal management task module (140, 148, 166) and the navigation module (124), programmed with a self-steering program to autonomously orient the autonomous vehicle platform ( 100) when performing a management task in season, the microprocessor (122) configured to alert an operator when a navigation obstacle is encountered.
[0003]
3. Autonomous vehicle platform, according to claim 1, CHARACTERIZED by the fact that the plant sampling structure (184, 186) comprises a device for collecting the physical sample.
[0004]
4. Autonomous vehicle platform according to claim 3, CHARACTERIZED by the fact that the device is at least a leaf clip (184), a leaf punch (186), or a combination thereof.
[0005]
5. Autonomous vehicle platform system, according to claim 2, CHARACTERIZED by the fact that the navigation module (124) is still configured to receive field orientation information from one or more sensors.
[0006]
6. Autonomous vehicle platform system, according to claim 2, CHARACTERIZED by the fact that the one or more sensors are at least one of the one or more cameras on board, one or more antennas for radio communication with a base station, one or more global positioning systems, and a combination of these.
[0007]
7. Autonomous vehicle platform system, according to claim 2, CHARACTERIZED by the fact that the one or more obstacle detection sensor (s) (172) is at least a video camera, GPS sensor , infrared sensor, ultrasound sensor, and the LIDAR sensor.
[0008]
8. Agricultural robot (100), CHARACTERIZED by the fact that it is configured to perform one or more management tasks in season in an agricultural field while autonomously navigating between adjacent rows of planted crops, based, at least in part, on a wider range for collecting data from one or more air navigation sensors, the agricultural robot comprising: an unmanned mobile vehicle platform (108) having a width of 92 cm (36 inches) or less in order to allow the platform to cross between adjacent rows of crops planted in an agricultural field; an extendable mast (127) coupled to the platform (108) and configured to selectively extend upward generally, away from an agricultural field surface; one or more air navigation sensors (175) coupled to the extendable mast (127), such that when the mast (127) is generally extended upwards, increasing the distance from the surface of the agricultural field allows a greater range of data collection, wherein the one or more air navigation sensors (175) comprise at least one from a camera, infrared sensor, ultrasound sensor, and a LIDAR sensor; and a navigation module (124) in communication with one or more air navigation sensors (175), the navigation module (124) configured to receive data collected by one or more air navigation sensors (175) to aid in at least one navigation of the agricultural robot (100) between adjacent rows of crops planted and avoiding obstacles, during the execution of one or more management tasks in season.
[0009]
9. Agricultural robot, according to claim 8, CHARACTERIZED by the fact that the extendable mast (127) is configured to serve as a telescope to at least partially extend over the crops planted to increase the range of data collection .
[0010]
10. Method for autonomous navigation of an agricultural robot (100), the CARACTERI ZADO method because it comprises: delivering an agricultural robot (100) to an agricultural field, in which the agricultural robot (100) is programmed with a program self-direction; activate the self-steering program to autonomously navigate the agricultural robot (100) within the agricultural field during the execution of one or more seasonal management tasks in the agricultural field; detect an obstacle within the agricultural field during autonomous navigation; suspend autonomous navigation in response to the detected obstacle; deploy one or more air navigation sensors (175) to collect navigation data related to the detected obstacle; and transmitting the collected navigation data from one or more air navigation sensors (175) to a processing unit (122) for further processing.
[0011]
11. Method, according to claim 10, CHARACTERIZED by the fact that the obstacle includes at least one stationary navigation obstacle, a human, an animal, weeds, unwanted vegetation and a planted culture in which the perceived location of the planted crop fails to find an expected plant harvest site.
[0012]
12. Method, according to claim 10, CHARACTERIZED by the fact that the agricultural robot (100) also includes a user interface module (128) configured to transmit navigation data collected from one or more air navigation sensors for an external operator and configured to receive command data from the external operator to selectively cancel autonomous navigation.

类似技术:

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公开号 | 公开日 | 专利标题

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US10890912B2|2021-01-12|Robotic platform and method for performing multiple functions in agricultural systems

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同族专利:

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公开号 | 公开日

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US20150142250A1|2015-05-21|

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EP3071009A1|2016-09-28|

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US20160124433A1|2016-05-05|

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EP3071009A4|2017-07-26|

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CA2930849A1|2015-05-28|

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US9582002B2|2017-02-28|

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CA2930849C|2022-02-08|

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BR112016011577A2|2017-09-12|

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EP3071009B1|2020-12-30|

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EP3827654A1|2021-06-02|

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US10528048B2|2020-01-07|

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US10890912B2|2021-01-12|

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US20170123424A1|2017-05-04|

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US20200125098A1|2020-04-23|

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US20210132608A1|2021-05-06|

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US9265187B2|2016-02-23|

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法律状态:
2018-02-27| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2019-08-13| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2020-05-05| B07A| Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]|

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2020-11-03| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-01-12| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 20/11/2014, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US201361906643P| true| 2013-11-20|2013-11-20|

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US61/906,643|2013-11-20|

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PCT/US2014/066610|WO2015077452A1|2013-11-20|2014-11-20|Robotic platform and method for performing multiple functions in agricultural systems|

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