Robotic platform and method for performing multiple functions in agricultural systems

• US 10,123,473 B2
• Filed: 02/18/2016
• Issued: 11/13/2018
• Est. Priority Date: 06/01/2012
• Status: Active Grant

• Current Assignee: RowBot Systems LLC
• Original Assignee: RowBot Systems LLC
• Inventors: Cavender-Bares, Kent, Bares, Charles C.
• Primary Examiner(s): Mott, Genna M
• Application Number:
  US15/047,076
• Publication Number:
  US 20160157415A1
• Time in Patent Office: 999 Days
• Field of Search: 701 50, 701 23
• CPC Class Codes: A01B 19/00 Harrows with non-rotating tools harrows for working in vineyards A01B39/16
• CPC Class Codes: A01B 51/02 propelled by a motor
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01C 21/002 Apparatus for sowing fertiliser; Fertiliser drill
• CPC Class Codes: A01C 21/005 Following a specific plan, e.g. pattern
• CPC Class Codes: A01C 21/007 Determining fertilization requirements
• CPC Class Codes: A01C 23/023 for liquid or gas fertilisers
• CPC Class Codes: A01C 23/024 for ammonia
• CPC Class Codes: A01C 23/042 Adding fertiliser to watering systems
• CPC Class Codes: A01C 23/047 Spraying of liquid fertilisers
• CPC Class Codes: A01C 7/06 Seeders combined with fertilising apparatus
• 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: Y02P 60/21 Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Abstract

An autonomous vehicle platform system and method configured to perform various in-season management tasks, including selectively applying fertilizer, mapping growth zones and seeding cover crop within an agricultural field, while self-navigating between rows of planted crops and beneath the canopy of the planted crops on the uneven terrain of an agricultural field, allowing for an ideal in-season application of fertilizer to occur once the planted crop is well established and growing rapidly, in an effort to limit the loss of fertilizer.

Claims

1. An autonomous vehicle platform system for selectively seeding a second cover crop in an agricultural field planted with rows of a first annual crop spaced not more than thirty-six inches apart, the autonomous vehicle platform system comprising:

one or more unmanned, autonomous vehicle platforms, wherein each autonomous vehicle platform includes a base operably coupled to a plurality of ground engaging wheels or tracks, each autonomous vehicle platform having a first lateral side and a second lateral side, wherein the first and second lateral sides oppose one another and are separated by a distance defining a width of the autonomous vehicle platform, the width so dimensioned as to be receivable within a space defined between two adjacent rows of the first annual crop, wherein each autonomous vehicle platform is programmed with a self-direction program to autonomously navigate the autonomous vehicle platform within the space between two adjacent rows of the first annual crop and to avoid obstacles, including other autonomous vehicle platforms, while selectively seeding the second cover crop within the agricultural field.

2. The autonomous vehicle platform system of claim 1, wherein each autonomous vehicle platform is configured to seed the second cover crop when leaves of the first annual crop begin to senesce.

3. The autonomous vehicle platform system of claim 1, wherein each autonomous vehicle platform includes one or more seed reservoirs containing second cover crop seeds.

4. The autonomous vehicle platform system of claim 3, wherein the one or more seed reservoirs of each autonomous vehicle platform is operably coupled to the base of each autonomous vehicle platform.

5. The autonomous vehicle platform system of claim 3, wherein the second cover crop seeds are distributed by a seeding mechanism.

6. The autonomous vehicle platform system of claim 5, wherein the seeding mechanism is a seeding attachment.

7. The autonomous vehicle platform system of claim 5, wherein the second cover crop seeds are distributed between two adjacent rows of the first annual crop.

8. The autonomous vehicle platform system of claim 5, wherein the second cover crop seeds are distributed across several rows of the first annual crop.

9. The autonomous vehicle platform system of claim 5, wherein the second cover crop seeds are tilled into the agricultural field by a tillage device.

10. The autonomous vehicle platform system of claim 9, wherein the tillage device is at least one of a metal bar, a chain and a harrow.

11. The autonomous vehicle platform system of claim 1, wherein the self-direction program of each autonomous vehicle platform is configured to autonomously navigate each autonomous vehicle platform while selectively seeding the second cover crop based in part on received field orientation information and detected obstacles.

12. The autonomous vehicle platform system of claim 11, wherein the detected obstacles can be communicated to a remote user through a user interface for each autonomous vehicle platform.

13. The autonomous vehicle platform system of claim 12, wherein the self-direction program can be selectively overridden remotely through the user interface for each autonomous vehicle platform.

14. The autonomous vehicle platform system of claim 1, wherein at least one autonomous vehicle platform is configured to seed the second cover crop while applying a fertilizer to the agricultural field.

15. The autonomous vehicle platform system of claim 1, wherein at least one autonomous vehicle platform is configured to seed the second cover crop while mapping the agricultural field.