Hybrid airship-drone farm robot system for crop dusting, planting, fertilizing and other field jobs

• US 9,852,644 B2
• Filed: 06/25/2016
• Issued: 12/26/2017
• Est. Priority Date: 03/24/2013
• Status: Expired due to Fees

• Current Assignee: BEE Robotics Corporation
• Original Assignee: BEE Robotics Corporation
• Inventors: Salnikov, Vladimir, Filin, Anatoly, Burema, Harm
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US15/193,033
• Publication Number:
  US 20160307448A1
• Time in Patent Office: 549 Days
• Field of Search: 701 3, 701 2, 2441711, 244 30, 244 62
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01B 79/02 combined with other agricultural processing, e.g. fertilising, planting
• CPC Class Codes: A01C 21/00 Methods of fertilising , sowing or planting
• CPC Class Codes: A01C 7/04 Single-grain seeders with or without suction devices
• CPC Class Codes: B64B 1/40 Balloons B64B1/58 takes precedence; toy balloons A63H27/10
• CPC Class Codes: B64B 2201/00 Hybrid airships, i.e. airships where lift is generated aerodynamically and statically
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/16 Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting jettisoning fuel B64D37/26
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/30 Lighter-than-air aircraft, e.g. aerostatic aircraft
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/32 for cartography or topography
• CPC Class Codes: B64U 2101/45 for releasing liquids or powders in-flight, e.g. crop-dusting
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 80/25 for recharging batteries; for refuelling
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00
• CPC Class Codes: G08G 5/0043 : Traffic management of multiple aircrafts from the ground G08G5/003 takes precedence; data processing specially designed for resource management, e.g. scheduling or allocating time, human or machine resources G06Q10/06
• CPC Class Codes: G08G 5/04 : Anti-collision systems
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

Modern farming is currently being done by powerful ground equipment or aircraft that weigh several tons and treat uniformly tens of hectares per hour. Automated farming can use small, agile, lightweight, energy-efficient automated robotic equipment that flies to do the same job, even able to farm on a plant-by-plant basis, allowing for new ways of farming. A hybrid airship-drone has both passive lift provided by a gas balloon and active lift provided by propellers. A hybrid airship-drone may be cheaper, more stable in flight, and require less maintenance than other aerial vehicles such as quadrocopters. However, hybrid airship-drones may also be larger in size and have more inertia that needs to be overcome for starting, stopping and turning.

Claims

1. A method of automated farming where a fleet of two or more hybrid airship-drones, each of which has lift provided both by a container containing a buoyant gas and by one or more propellers powered by one or more electric motors, where the method includes at least the operations of:

accepting from a farmer a service order to carry out a farming task on a field or on plants being farmed,

using a control system, creating and maintaining a map of the field and plants being farmed, using the map to transform the service order into individual assignments for the fleet of two or more hybrid airship-drones to perform on all or part of the field or for one or more of the plants being farmed,

using a reservoir on at least one hybrid airship-drone in the fleet to hold farm inputs,

monitoring the amount of the farm inputs remaining in the reservoir and automatically refilling the reservoir when it becomes empty,

tracking each of the two or more hybrid airship-drones to obtain its coordinates;

using the coordinates to automatically plot individual assignments for each of the two or more hybrid airship-drones and then directing each of them to proceed along individual paths to individual points in the field and to perform a farming task beginning at those points,

using a toolset on at least one hybrid airship-drone in the fleet to deliver the farm inputs or to perform other farming tasks,

monitoring the amount of power remaining on the two or more hybrid airship-drones and automatically providing additional power to each hybrid airship-drone when power becomes too low,

controlling traffic as the two or more hybrid airship-drones travel so they avoid colliding with people or other things, and

directing the two or more hybrid airship-drones to a home base for automatic parking or storage when no longer needed.

2. The method of claim 1 where the container containing a buoyant gas is fixed and undetachable.

3. An automated farming system that includes at least the following:

a fleet of two or more multi- or single-rotor aerial vehicles, each of which is equipped with an inseparable airship or blimp which is integral part of the vehicle, each of which is lifted by a combination of buoyancy and propeller thrust, and each of which is configured to allow refillable reservoirs or toolsets, or both refillable reservoirs and toolsets, to be used,

a program, stored in a non-transitory storage medium, which creates and maintains a map of the field and plants being farmed and which allows a farmer to input a service order to perform a farming task, and then using the map transforms that service order into directions for each hybrid airship-drone,

a home base for parking or storing the two or more hybrid airship-drones when they are not operating,

a high-precision positioning unit responsible for tracking each of the two or more hybrid airship-drones to determine its coordinates;

a control system for simultaneously controlling the two or more hybrid airship-drones, which control system uses the coordinates tracked by the high-precision positioning unit to automatically plot an assignment for each hybrid airship-drone and then direct the hybrid airship-drone to proceed along a path to a point in the field and to perform a farming task beginning at that point,

equipment for refilling the two or more hybrid airship-drones with farm inputs,

equipment for automatically recharging the two or more hybrid airship-drones with power, and

equipment for communicating with the two or more hybrid airship-drones.

4. A system for farming that includes at least the following:

at least two hybrid airship-drones, wherein each hybrid airship-drone is equipped with an inseparable airship or blimp which is integral part of the airship-drones, capable of moving autonomously or semi-autonomously above a field and plants being farmed and capable of carrying refillable reservoirs or toolsets, or both refillable reservoirs and toolsets, for delivering farm inputs, a control subsystem capable of receiving directions from an operator to carry out farming tasks and capable of simultaneously controlling the at least one hybrid airship-drones to carry out the farming tasks by creating and maintaining a map of the field and plants being farmed, tracking each hybrid airship-drone to determine its coordinates, using the map and the coordinates to automatically plot an assignment for the at least one hybrid airship-drones, and then directing the at least one hybrid airship-drones to proceed along a path to a point in the field and to perform a farming task beginning at that point, and a power subsystem capable of automatically providing power to the at least one hybrid airship-drones so that they can move and carry out the farming functions.

5. The system of claim 4 where each hybrid airship-drone has both passive lift, provided by a fixed and undetachable gas balloon, and active lift, provided by propellers.