Method and apparatus for performing pruning operations using an autonomous vehicle

• US 10,645,882 B1
• Filed: 07/12/2019
• Issued: 05/12/2020
• Est. Priority Date: 10/29/2018
• Status: Active Grant

• Current Assignee: Advanced Intelligent Systems Inc.
• Original Assignee: Advanced Intelligent Systems Inc.
• Inventors: Bidram, Farhang, Mehrabi, Vahid
• Primary Examiner(s): Hayes, Kristen C
• Application Number:
  US16/510,070
• Publication Number:
  US 20200128757A1
• Time in Patent Office: 305 Days
• CPC Class Codes: A01G 3/0435 Machines specially adapted for shaping plants, e.g. topiaries
• CPC Class Codes: A01G 3/047 portable
• CPC Class Codes: B25J 11/0055 Cutting
• CPC Class Codes: B25J 13/086 Proximity sensors
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

Abstract

An autonomous vehicle apparatus and method for performing pruning operations on a plant being cultivated in a container is disclosed. The apparatus includes a wheeled chassis operably configured to autonomously navigate to a location of the container within a workspace. The apparatus also includes a plant support operable to receive and secure the container in an upright condition for rotation about a vertical axis extending generally vertically through the container and the plant. The apparatus further includes a manipulator mounted to the vehicle and operable to grasp and load the container onto the plant support, and a pruning tool mounted on the vehicle and disposed to prune the plant while the container is rotated on the plant support.

Claims

1. An autonomous vehicle apparatus for performing pruning operations on a plant being cultivated in a container, the apparatus comprising:

a wheeled chassis operably configured to autonomously navigate to a location of the container within a workspace;

a plant support operable to receive and secure the container in an upright condition for rotation about a vertical axis extending generally vertically through the container and the plant;

a manipulator mounted to the vehicle and operable to grasp and load the container onto the plant support;

a pruning tool mounted on the vehicle and disposed to prune the plant while the container is rotated on the plant support.

2. The apparatus of claim 1 wherein the plant support comprises:

a support surface sized to receive and support a base of the container;

a rotational actuator coupled to the support surface and operably configured to cause rotation of the support surface about the vertical axis; and

at least one actuable clamp disposed to engage a portion of the container to secure the container to the support surface.

3. The apparatus of claim 2 wherein the at least one actuable clamp is spaced apart from the vertical axis and moveable in a generally radial direction toward the vertical axis to engage the container.

4. The apparatus of claim 3 wherein the at least one actuable clamp comprises two or more actuable clamps each being radially disposed about the vertical axis.

5. The apparatus of claim 3 wherein the at least one actuable clamp comprises:

a sliding portion received within an aperture in the support surface for sliding movement in the radial direction; and

a protruding portion that protrudes above the support surface and is disposed to engage the container.

6. The apparatus of claim 3 wherein the clamp actuator comprises an aperture plate disposed below the support surface and having a spiral aperture configured to receive a protrusion associated with the at least one clamp, the aperture being operable to exert a radial force on the protrusion when the plate is rotated for causing the radial motion of the clamp.

7. The apparatus of claim 1 wherein the pruning tool comprises a plurality of adjacent actuated shearing blades disposed in an arc, the pruning tool being mounted for movement in one or more directions to facilitate positioning of the pruning tool to prune the plant.

8. The apparatus of claim 7 wherein the pruning tool is mounted for movement in at least one of:

a transverse direction for moving the pruning tool between a deployed position where the pruning tool is disposed to perform pruning operations and a stowed position where the pruning tool is moved to permit a plant and container to be loaded by the manipulator;

a direction generally aligned with the vertical axis for disposing the pruning tool at a suitable elevation for pruning operations on plants having differing foliage elevations with respect to the plant support;

or

a direction toward or away from the vertical axis for disposing the pruning tool at a suitable spacing for pruning operations on plants having differing foliage spread with respect to the vertical axis.

9. The apparatus of claim 1 further comprising a repository disposed on the vehicle and providing a storage volume for receiving cuttings removed from the plant by the pruning tool.

10. The apparatus of claim 9 further comprising an overflow repository having a wheeled chassis and operably configured to be trailered behind the wheeled chassis of the autonomous vehicle, the overflow repository being in communication with the repository on the autonomous vehicle for receiving clippings.

11. The apparatus of claim 9 wherein the repository comprises a blower in fluid communication with the storage volume and operable to draw air through at least one repository opening to collect and carry the cuttings via the repository opening into the storage volume.

12. The apparatus of claim 11 wherein the pruning tool comprises a plurality of adjacent actuated shearing blades disposed generally above the plant support at a plant foliage elevation and wherein the repository opening comprises:

a manifold having a plurality of repository openings, each opening disposed proximate a respective one of the plurality shearing blades; and

a conduit extending between the manifold and the storage volume.

13. The apparatus of claim 9 wherein the repository is mounted to the vehicle at a location adjacent to the plant support and the storage volume extends vertically upward alongside the container and plant when received on the plant support.

14. The apparatus of claim 9 wherein the repository is disposed on the vehicle below the plant support and the storage volume has an opening peripherally surrounding the plant support for collecting the cuttings.

15. The apparatus of claim 14 wherein the opening comprises a guide operably configured to direct cuttings toward the opening.

16. The apparatus of claim 14 wherein the repository is removably received on a transverse guide on the chassis to facilitate removal of the repository for emptying clippings from the storage volume.

17. The apparatus of claim 1 further comprising a controller operably configured to control the vehicle in response to receiving signals from one or more navigational sensors that provide navigational information and in response to receiving signals from one or more proximity sensors responsive to the presence of containers within the workspace.

18. The apparatus of claim 17 wherein the controller comprises:

a processor circuit;

a computer readable medium including instructions for directing the processor circuit to receive and respond to the signals produced by the more navigational sensors and one or more proximity sensors.

19. A method implemented by a controller of an autonomous vehicle having a wheeled chassis to perform pruning operations on plants being cultivated in containers, the method comprising:

(a) causing the autonomous vehicle to autonomously navigate to a location of a plurality of plant containers within a workspace;

(b) locating a first container of the plurality of plant containers at a pickup location and causing a manipulator mounted to the vehicle to grasp and load the container onto a plant support, the plant support being operable to receive and secure the container in an upright condition for rotation about a vertical axis extending generally vertically through the container and the plant;

(c) causing a pruning tool mounted to the vehicle to prune the plant while the container is rotated on the plant support;

(d) causing the manipulator to grasp and unload the first container to a drop-off location within the workspace;

(e) successively repeating steps (a) to (d) for remaining containers in the plurality of plant containers.

20. The method of claim 19 wherein the drop-off location is located proximate but separated from the pickup location and wherein the autonomous vehicle and manipulator are operably configured to arrange the plant containers in regular spaced relation at the drop-off location.

21. The method of claim 19 further comprising causing a controller to control the vehicle in response to receiving signals from one or more navigational sensors that provide navigational information and in response to receiving signals from one or more proximity sensors responsive to the presence of containers within the workspace.

22. The method of claim 21 wherein the controller comprises a processor circuit including a computer readable medium having instructions for directing the processor circuit to receive and respond to the signals produced by the more navigational sensors and one or more proximity sensors.