Automatic target recognition and dispensing system

• US 10,772,253 B2
• Filed: 12/10/2015
• Issued: 09/15/2020
• Est. Priority Date: 12/10/2014
• Status: Active Grant

• Current Assignee: Agerris Pty Ltd.
• Original Assignee: University of Sydney
• Inventors: Calleija, Mark, Sukkarieh, Salah
• Primary Examiner(s): Lee, Thomas C
• Assistant Examiner(s): Collins, Gary
• Application Number:
  US15/534,775
• Publication Number:
  US 20170359943A1
• Time in Patent Office: 1,741 Days
• Field of Search: None
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01G 25/09 Watering arrangements making use of movable installations on wheels or the like
• CPC Class Codes: A01M 21/043 by chemicals
• CPC Class Codes: A01M 7/006 Mounting of the nozzles
• 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: A62C 37/40 with electric connection between sensor and actuator
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/18 by spraying, e.g. insecticides spraying apparatus per se B05B
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography

Abstract

An automated apparatus, method and system for projecting a control agent toward a recognised target for the purposes of agricultural cultivation or environmental management or various other applications; a source of the control agent adapted for use in connection with an environmental control function, an outlet incorporating at least one outlet orifice to direct the control agent emanating from the outlet orifice toward a target. An activation means is movable between an operative mode and an inoperative mode in which the outlet is effectively closed. A targeting mechanism movable on at least one independent control axis provided for selectively orienting the outlet orifice and thereby orienting the control agent in the operative mode. A first sensing system, a classification system, a control system in accordance with a predetermined control logic adapted to deliver doses of the control agent to the identified targets for the purposes of the environmental control function.

Claims

1. An apparatus for projecting a control agent toward a target, the apparatus including:

a source of the control agent adapted for use in connection with an environmental control function;

an outlet incorporating at least one outlet orifice adapted to direct the control agent emanating from the outlet orifice toward a target;

a control valve selectively movable between an operative mode in which the outlet is effectively open and an inoperative mode in which the outlet is effectively closed;

an outlet support assembly movable on at least one independent control axis for selectively orienting the outlet orifice and thereby orienting the control agent emanating from the outlet orifice in the operative mode;

one or more actuators to effect movement of the outlet support assembly about the control axis;

a first sensor for sensing aspects of an environment and generating data indicative thereof, wherein the first sensor is fixed relative to the at least one independent control axis;

a classification device for identifying targets within the environment on the basis of the data from the first sensor; and

a controller adapted to orient the outlet orifice toward the targets with the one or more actuators and to select the operative mode of the control valve in accordance with a predetermined control logic;

thereby to project a beam or a jet of the control agent toward the identified targets for the purposes of the environmental control function;

wherein the first sensor is substantially co-located with the outlet such that a ray projected from the sensor is substantially co-linear with a jet path and the projected beam or jet of the control agent is within a field of view of the first sensor.

2. An apparatus according to claim 1, wherein the outlet support assembly is movable on at least two independent control axes, whereby the actuators effect movement of the outlet support assembly about the respective control axes.

3. An apparatus according to claim 1, wherein the control agent is a pressurised control fluid, and the apparatus further includes a fluid inlet for connection to the pressurised source of pressurised control fluid, and a fluid outlet incorporating the at least one outlet orifice.

4. An apparatus according to claim 1, wherein the environmental control function is the growth of a selected agricultural plant or crop, or the control or eradication of a targeted pest.

5. An apparatus according to claim 1, wherein the target is a plant, or the soil immediately below or surrounding the plant, wherein the control agent is water for irrigation or a liquid fertiliser to enhance growth of the plant.

6. An apparatus according to claim 1, wherein the target is a pest and the control agent is a pesticide adapted to selectively control the population of the pest when targeted.

7. An apparatus according to claim 1, wherein the target is effectively eradicated or displaced by the energy of the control agent.

8. An apparatus according to claim 1, wherein, during each firing sequence, a duration of the operative mode of the control valve is such that the jet takes the form of an airborne projectile of a control fluid.

9. An apparatus according to claim 1, wherein, during each firing sequence, a duration of the operative mode of the control valve is such that the jet takes the form of a semi-continuous stream of a control fluid.

10. An apparatus according to claim 1, wherein the apparatus includes a second sensor for sensing in real time the position and orientation of the outlet orifice, as part of a feedback control loop.

11. An apparatus according to claim 1, wherein a plurality of orifices are incorporated into the outlet.

12. An apparatus according to claim 11, wherein different orifices are adapted to deliver different control fluids and/or the targets for the respective orifices are different.

13. An apparatus according to claim 1, wherein the apparatus is attached to or integrated with an unmanned aerial vehicle (UAV).

14. An apparatus according to claim 1, wherein the apparatus is attached to or integrated with a mobile ground-based vehicle adapted to traverse successive rows of crops.

15. An apparatus according to claim 1, wherein the apparatus attached to a fixed base station.

16. An apparatus according claim 1, wherein the outlet support assembly includes additional degrees of freedom, to provide more flexibility for positioning and orienting the fluid outlet.

17. An apparatus according claim 1, wherein the outlet support assembly is configured as an end effector of a multi-DoF (multiple degrees of freedom) robotic arm, with the robotic arm providing at least one kinematic degree of freedom at each of a plurality of revolute joints, connected by intermediate links.

18. An apparatus according to claim 1, including a calibration system operating a calibration routine to determine the state of the system, and the direction and magnitude of any error correction required.

19. An apparatus according to claim 1, wherein the controller includes a prioritisation algorithm for prioritisation of targets for the apparatus.