Robotic agricultural system and method

• US 10,149,468 B2
• Filed: 08/29/2016
• Issued: 12/11/2018
• Est. Priority Date: 05/10/2016
• Status: Active Grant

• Current Assignee: GUSS Automation LLC
• Original Assignee: Crinklaw Farm Services, Inc.
• Inventors: Crinklaw, David Curtis, Schapansky, Chase, Vaccari, Richard, Bischel, Jeremy, Johnson, Ryan
• Primary Examiner(s): MOYER, DALE S
• Application Number:
  US15/250,279
• Publication Number:
  US 20170325443A1
• Time in Patent Office: 834 Days
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01B 79/00 Methods for working soil
• CPC Class Codes: A01M 7/0014 Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
• CPC Class Codes: A01M 7/0089 Regulating or controlling systems the delivery being related to the movement of a vehicle B05B9/06
• CPC Class Codes: B05B 13/005 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
• CPC Class Codes: B05B 7/32 the fed liquid or other fluent material being under pressure
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

A robotic orchard spraying system having autonomous delivery vehicles (ADV), each autonomously delivering an amount of a premixed solution over a non-overlapping path verified by a forward-looking sensor, video, or both. Also, a mobile control center, configured to wirelessly inform the autonomous delivery vehicle of the path within the areas and to confirm that the autonomous delivery vehicle is following the path within the area. Additionally, a mapper vehicle generates the path within the area, the mapper vehicle being configured to communicate information about the path and the area to the command center. The mapper vehicle senses the path with a forward-looking LiDAR sensor, and senses the area with a GPS sensor. Moreover, a nurse truck has a reservoir of premixed solution for replenishing a tank of the ADV. ADVs and the control center communicate over a radio network, which may be a mesh network, a cellular network, or both.

Claims

1. A robotic agricultural system comprising:

autonomous delivery vehicles, each configured to autonomously perform a respective predetermined agricultural task over respective predefined, nonoverlapping paths within respective predefined non-overlapping areas, the respective predefined non-overlapping paths being verified by a respective autonomous delivery vehicle forward-looking sensor or a respective autonomous delivery vehicle video feed or both, and the respective predefined non-overlapping area being verified by a respective autonomous delivery vehicle geolocation sensor;

a control center, configured to wirelessly inform the autonomous delivery vehicles of the respective predefined non-overlapping paths and respective predefined non-overlapping areas; and

a mapper vehicle configured to identify predefined non-overlapping paths in respective predefined non-overlapping areas, wherein the mapper vehicle is configured to communicate information about the respective predefined non-overlapping paths and the respective predefined non-overlapping areas to the control center.

2. The robotic agricultural system of claim 1, wherein each autonomous delivery vehicle further comprises:

a vehicle chassis with a front and a rear, wherein the front vehicle chassis has an up-sloped front profile;

hydraulic motors attached to the vehicle chassis, wherein the hydraulic motors motivate the autonomous delivery vehicle in a selected direction;

a hydraulic pump attached to the vehicle chassis and fluidly coupled to drive the hydraulic motors;

a motive engine mechanically coupled to, and configured to drive, the hydraulic pump, and attached to the vehicle chassis;

an implement actuator attached to the vehicle chassis and coupled to the motive engine; and

an implement coupled to the implement actuator, wherein the implement actuator is a mechanical implement actuator or a hydraulic implement actuator.

3. The robotic agricultural system of claim 2, each autonomous delivery vehicle further comprising:

a respective vehicle control unit (VCU) coupled to the respective autonomous delivery vehicle (ADV) forward-looking sensor and the respective ADV geolocation sensor, the respective VCU generating a vehicle command based on the respective ADV forward-looking sensor sensing the predefined non-overlapping path and the respective ADV geolocation sensor sensing a predefined non-overlapping area containing the predefined non-overlapping path, the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a predetermined agricultural task command, or a pressure control command, the respective autonomous delivery vehicle responding to at least one vehicle command, wherein the respective forward-looking sensor is a LiDAR sensor, and the respective geolocation sensor is a GPS sensor.

4. The robotic agricultural system of claim 3, wherein the respective vehicle control unit receives at least one sensed input from at least one of a steering sensor, a speed sensor, a clutch pressure sensor, an implement actuator sensor, or an implement sensor, wherein the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a pressure control command, or a predetermined agricultural task command, the vehicle control unit issuing a vehicle command responsive to the at least one sensed input and the respective autonomous delivery vehicle responding to the vehicle command.

5. The robotic agricultural system of claim 4, further comprising:

a collision avoidance system including command and control software that causes respective predefined paths to not overlap and respective predefined areas to not overlap.

6. The robotic agricultural system of claim 5, further comprising:

a collision mitigation system including command and control system software that causes two adjacent autonomous delivery vehicles to turn in proximity to each other without a collision.

7. The robotic agricultural system of claim 6, further comprising:

a remote control, independent of the respective autonomous delivery vehicle (ADV) chassis, the remote control wirelessly and selectably coupleable to the respective ADV, the remote control being configured to over-ride autonomous action and operate at least one of a steering function, a propulsion function, a clutch function, a spray system pressure function, a spray function, or an E-Stop function.

8. The robotic agricultural system of claim 1, further comprising a stationary control center.

9. The robotic agricultural system of claim 1, further comprising a mobile control center.

10. The robotic agricultural system of claim 1, further comprising:

each autonomous delivery having

a vehicle chassis with a front and a rear, wherein the front vehicle chassis has an up-sloped front profile;

a motive engine attached to the vehicle chassis;

an implement actuator attached to the chassis and coupled to the motive engine; and

an implement coupled to the chassis and the implement actuator, and motivated by the implement actuator.

11. A robotic agricultural system, comprising:

autonomous delivery vehicles, each configured to autonomously perform a respective predetermined agricultural task over respective predefined, nonoverlapping paths within respective predefined non-overlapping areas, the respective predefined non-overlapping paths being verified by a respective autonomous delivery vehicle forward-looking sensor or a respective autonomous delivery vehicle video feed or both, and the respective predefined non-overlapping area being verified by a respective autonomous delivery vehicle geolocation sensor;

a mobile control center, configured to wirelessly inform the respective autonomous delivery vehicles of the respective predefined non-overlapping paths within the respective predefined non-overlapping areas and to confirm that the autonomous delivery vehicles are following the respective predefined nonoverlapping path within the respective predefined non-overlapping area; and

a mapper vehicle, the mapper vehicle generating the respective predefined non-overlapping paths within the respective predefined non-overlapping areas; and

the mapper vehicle configured to communicate information about the respective predefined non-overlapping paths and the predefined non-overlapping areas to the mobile control center, wherein the mapper vehicle senses the respective predefined non-overlapping paths with a mapper vehicle forward-looking sensor, and senses the respective predefined non-overlapping areas with a mapper vehicle geolocation sensor.

12. A method for a robotic agricultural system, comprising:

autonomously determining a non-overlapping forward path;

autonomously following the non-overlapping forward path;

employing an autonomous delivery vehicle for selectively performing a predetermined agricultural task;

while following the non-overlapping forward path, autonomously and selectively performing the predetermined agricultural task on the non-overlapping forward path;

downloading to the autonomous delivery vehicle a predetermined nonoverlapping forward path;

comparing a current forward path to the downloaded pre-identified nonoverlapping forward path; and

autonomously correcting a heading corresponding to a downloaded nonoverlapping forward path, using a forward-looking sensor on the autonomous delivery vehicle.