Aerial farm robot system for crop dusting, planting, fertilizing and other field jobs

• US 9,382,003 B2
• Filed: 03/20/2014
• Issued: 07/05/2016
• Est. Priority Date: 03/24/2013
• Status: Expired due to Fees

• Current Assignee: BEE Robotics Corporation
• Original Assignee: BEE Robotics Corporation
• Inventors: Burema, Harm, Filin, Anatoly
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US14/220,990
• Publication Number:
  US 20140303814A1
• Time in Patent Office: 838 Days
• Field of Search: 701/3, 701/2, 244/190, 244/136, 244/17.23, 244/17.13, 244/189, 244/76.R, 244/100.R, 244/58, 239/416.1, 239/550, 239/428, 416/442, 169/53
• US Class Current: 1/1
• 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: 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 10/00 Type of UAV
• CPC Class Codes: B64U 20/40 Modular UAVs
• CPC Class Codes: B64U 50/16 using means other than air displacement or combustion exhaust, e.g. water or magnetic levitation
• CPC Class Codes: B64U 50/31 generated by photovoltaics
• CPC Class Codes: B64U 50/39 Battery swapping
• CPC Class Codes: B64U 70/90 Launching from or landing on platforms
• CPC Class Codes: B64U 70/92 Portable platforms
• CPC Class Codes: B64U 80/25 for recharging batteries; for refuelling
• CPC Class Codes: B64U 80/30 with arrangements for data transmission
• CPC Class Codes: B64U 80/40 for two or more UAVs
• CPC Class Codes: B64U 80/80 by vehicles
• 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. Automated farming uses unmanned aerial vehicles (UAVs) that are equipped with detachable implements and reservoirs and that we call “aerial farm robots.” Automated farming uses high-precision GPS and other precision positioning and vision technology to autonomously and precisely perform crop dusting, planting, fertilizing and other field related farming or husbandry tasks. The subsystems for the control, refill, recharge and communication subsystems of the aerial farm robots are part of the overall automated farming system, and can autonomously handle most of the husbandry tasks on a farm.

Claims

1. A method of automated farming where a fleet of two or more aerial farm robots is used to carry out farming tasks and 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,

creating and maintaining a map of the field and plants being farmed,

using the map to transform the service order into individual assignments for each of the aerial farm robots in the fleet 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 aerial farm robot in the fleet to hold farm inputs,

monitoring the amount of the farm inputs remaining in the reservoir and automatically refilling the reservoir on the at least one aerial farm robot when the reservoir becomes empty,

tracking the precise coordinates of each robot at all times;

using the precise coordinates to automatically plot individual assignments for the two or more robots and then simultaneously directing the two or more robots 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 aerial farm robot in the fleet to deliver the farm inputs or to perform other farming tasks,

monitoring the amount of power remaining on each of the aerial farm robots in the fleet and automatically providing additional power to each robot when power becomes too low,

controlling traffic as the aerial farm robots in the fleet travel so the robots avoid colliding with each other or with people or other things, and

directing the aerial farm robots in the fleet to a home base for automatic parking or storage when no longer needed.

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

a fleet of two or more aerial farm robots which are configured to allow refillable reservoirs or toolsets, or both refillable reservoirs and toolsets, to be used,

a program 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 individual robots in the fleet of robots,

a home base for parking or storing the robots in the fleet when they are not operating,

a high-precision positioning unit responsible for tracking the precise coordinates of each robot at all times;

a control system for simultaneously controlling the two or more robots in the fleet, which control system uses the precise coordinates tracked by the high-precision positioning unit to automatically plot an assignment for each robot and then directs the robot 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 robots in the fleet with farm inputs,

equipment for automatically recharging the robots with power, and

equipment for communicating with the robots.

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

a fleet of two or more flying robots 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 two or more robots to carry out the farming tasks by creating and maintaining a map of the field and plants being farmed, tracking the precise coordinates of each robot at all times, using the map and the precise coordinates to automatically plot an assignment for the robot, and then directing the robot 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 fleet of robots so that they can move and carry out the farming functions.