Agricultural autonomous vehicle platform with articulated base

• US 9,392,743 B2
• Filed: 08/14/2014
• Issued: 07/19/2016
• Est. Priority Date: 08/14/2013
• Status: Active Grant

• Current Assignee: RowBot Systems LLC
• Original Assignee: RowBot Systems LLC
• Inventors: Camacho-Cook, Matthew, Bares, John E., Cavender-Bares, Kent
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US14/459,970
• Publication Number:
  US 20150051779A1
• Time in Patent Office: 705 Days
• Field of Search: 701/23, 701/50, 701/25, 111/149, 111/170, 111/900, 111/193, 111/135
• US Class Current: 1/1
• CPC Class Codes: A01B 51/02 propelled by a motor
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01C 15/00 Fertiliser distributors combined with seeders A01C7/06
• CPC Class Codes: A01C 7/06 Seeders combined with fertilising apparatus

Abstract

An autonomous vehicle platform and system for selectively performing an in-season management task in an agricultural field while self-navigating between rows of planted crops, the autonomous vehicle platform having a vehicle base with a width so dimensioned as to be insertable through the space between two rows of planted crops, the vehicle base having a first portion and a second portion, wherein the first portion is pivotably coupled to the second portion, and each of portion is operably coupled to at least one ground engaging wheel.

Claims

1. An autonomous vehicle platform for selectively performing an in-season management task in an agricultural field while self-navigating between rows of planted crops, comprising:

a vehicle base having a width so dimensioned as to be insertable through the space between two rows of planted crops, the vehicle base comprising a first portion and a second portion, wherein the first portion and the second portion each include at least one ground engaging wheel, and are pivotably coupled to one another by an active pivotal coupling configured to enable pivoting of the first portion relative to the second portion to affect steering of the autonomous vehicle platform;

at least one powertrain fixedly coupled to the vehicle base and operably coupled to at least one of the ground engaging wheels;

an in-season management task structure;

a navigation module; and

a microprocessor in communication with the in-season management task module and the navigation module, programmed with a self-direction program configured to control the active pivotal coupling to autonomously steer the autonomous vehicle platform while performing an in-season management task.

2. The autonomous vehicle platform of claim 1, wherein the active pivotal coupling is configured to forcibly pivot the first portion relative to the second portion.

3. The autonomous vehicle platform of claim 2, wherein the active pivotal coupling comprises at least one of a hydraulically-powered joint and an electric steering motor to forcibly pivot the first portion relative to the second portion.

4. The autonomous vehicle platform of claim 1, wherein at least one of the first portion and the second portion includes at least one of a ground engaging drum, a pair of ground engaging wheels and a ground engaging track.

5. The autonomous vehicle platform of claim 1, wherein the vehicle base is dimensioned to be substantially 30 inches in width or less.

6. The autonomous vehicle platform according to claim 1, wherein the in-season management task structure is one of a fertilization structure, a field mapping structure, a seeding structure, a protective chemical application structure, a soil sampling structure, and a combination thereof.

7. The autonomous vehicle platform according to claim 6, wherein the in-season management task structure is a fertilization structure configured for selective application of fertilizer to the soil substantially between rows of planted crops.

8. The autonomous vehicle platform according to claim 6, wherein the in-season management task structure is a fertilization structure configured for selective application of fertilizer to the soil proximate the base of planted crops.

9. The autonomous vehicle platform according to claim 1, wherein the navigation module is configured to receive field orientation information and detect obstacles utilizing at least an onboard sensor and a global positioning system unit.

10. The autonomous vehicle platform of claim 1, wherein the vehicle base further includes one or more additional portions pivotably coupled to at least one of the first portion and the second portion.

11. An autonomous vehicle platform system for selectively performing an in-season management task in an agricultural field while self-navigating between rows of planted crops, comprising:

one or more autonomous vehicle platform comprising;

a base having a width so dimensioned as to be insertable through the space between two rows of planted crops, the vehicle base comprising a first portion and a second portion, wherein the first portion and the second portion each include at least one ground engaging wheel, and are pivotably coupled to one another by an active pivotal coupling configured to enable pivoting of the first portion relative to the second portion to affect steering of the autonomous vehicle platform;

at least one powertrain fixedly coupled to the vehicle base and operably coupled to at least one of the ground engaging wheels;

an in-season management task module;

a navigation module; and

a microprocessor in communication with the in-season management task module and the navigation module, programmed with a self-direction program configured to control the active pivotal coupling to autonomously vehicle platform while performing an in-season management task.

12. The autonomous vehicle platform system of claim 11, further comprising one or more refilling stations, wherein each autonomous vehicle platform is programmed to compare the status of autonomous vehicle platform criteria to a programmed threshold and to navigate to the one or more refilling stations for servicing based on said comparison.

13. The autonomous vehicle platform system of claim 11, wherein the active pivotal coupling is configured to forcibly pivot the first portion relative to the second portion.

14. The autonomous vehicle platform system of claim 13, wherein the active pivotal coupling comprises at least one of a hydraulically-powered joint and an electric steering motor to forcibly pivot the first portion relative to the second portion.

15. The autonomous vehicle platform system of claim 11, wherein at least one of the first portion and the second portion includes at least one of a ground engaging drum, a pair of ground engaging wheels and a ground engaging track.

16. The autonomous vehicle platform system of claim 11, wherein the vehicle base is dimensioned to be substantially 30 inches in width or less.

17. The autonomous vehicle platform system according to claim 11, wherein the in-season management task structure is one of a fertilization structure, a field mapping structure, a seeding structure, and a combination thereof.

18. The autonomous vehicle platform system according to claim 17, wherein the in-season management task structure is a fertilization structure configured for selective application of fertilizer to the soil substantially between rows of planted crops.

19. The autonomous vehicle platform system according to claim 17, wherein the in-season management task structure is a fertilization structure configured for selective application of fertilizer to the soil proximate the base of planted crops.

20. The autonomous vehicle platform system according to claim 17, wherein the vehicle base further includes one or more additional portions pivotably coupled to at least one of the first portion and the second portion.