Robotic agricultural system and method

• US 9,877,470 B2
• Filed: 05/10/2016
• Issued: 01/30/2018
• Est. Priority Date: 05/10/2016
• Status: Active Grant

• Current Assignee: GUSS Automation LLC
• Original Assignee: Crinklaw Farm Services, Inc.
• Inventors: Crinklaw, David Curtis, Schapansky, Chase, Vaccari, Richard, Bischel, Jeremy, Johnson, Ryan
• Primary Examiner(s): MOYER, DALE S
• Application Number:
  US15/151,280
• Publication Number:
  US 20170325444A1
• Time in Patent Office: 630 Days
• 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: B05B 12/122 responsive to presence or shape of target B05B12/124 takes precedence
• CPC Class Codes: B05B 13/005 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
• CPC Class Codes: B05B 7/0012 Apparatus for achieving spraying before discharge from the apparatus
• CPC Class Codes: B05B 9/06 the delivery being related to the movement of a vehicle, e.g. the pump being driven by a vehicle wheel
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

A robotic orchard spraying system having an autonomous delivery vehicle (ADV), autonomously delivering an amount of a premixed solution over path, the path identified by a forward-looking sensor. The ADV uses GPS to sense an area containing the path, and LiDAR as the forward-looking sensor. Also, a mobile control center, configured to wirelessly inform the autonomous delivery vehicle of the path within the areas and to confirm that the autonomous delivery vehicle is following the path within the area. Additionally, a mapper vehicle generates the path within the area, the mapper vehicle being configured to communicate information about the path and the area to the command center. The mapper vehicle senses the path with a forward-looking LiDAR sensor, and senses the area with a GPS sensor. Moreover, a nurse truck has a reservoir of premixed solution for replenishing a tank of the ADV.

Claims

1. A robotic agriculture system, comprising:

an autonomous delivery vehicle (ADV), configured to autonomously deliver a predetermined amount of premixed solution over a predefined path, wherein the predefined path is identified by an ADV forward-looking sensor, the autonomous deliver vehicle comprising;

a vehicle chassis with a front and a rear, wherein the front vehicle chassis has an up-sloped front profile;

hydraulic motors attached to the vehicle chassis, wherein the hydraulic motors motivate the autonomous delivery vehicle in a selected direction;

a hydraulic pump attached to the vehicle chassis and fluidly coupled to drive the hydraulic motors;

a motive engine mechanically coupled to, and configured to drive, the hydraulic pump, and attached to the vehicle chassis;

a dispersal fan, attached to the vehicle chassis rear, and coupled to the motive engine; and

a solution pump attached to the vehicle chassis and coupled to the motive engine.

2. The robotic agriculture system of claim 1, further comprising:

a mobile control center, configured to wirelessly inform the autonomous delivery vehicle of the predefined path.

3. The robotic agriculture system of claim 2, further comprising:

a mapper vehicle configured to identify the predefined path; and

the mapper vehicle configured to communicate information about the predefined path and the predefined area to the control center, wherein the mapper vehicle senses the predefined path with a mapper vehicle forward-looking sensor.

4. The robotic agriculture system of claim 1, further comprising:

a second autonomous delivery vehicle (ADV), configured to autonomously deliver a second premixed solution over a second predefined path, the second predefined path identified by a second forward-looking ADV sensor.

5. The robotic agriculture system of claim 1, further comprising:

a vehicle control unit (VCU) coupled to an autonomous delivery vehicle (ADV) forward-looking LiDAR sensor and an ADV GPS sensor, the VCU generating a vehicle command based on the ADV forward-looking LiDAR sensor sensing the predefined path and an ADV GPS sensor sensing a predefined area containing the predefined path, the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command, the autonomous delivery vehicle responding to at least one vehicle command.

6. The robotic agriculture system of claim 5, further comprising:

a sprayer system, including;

a reservoir for holding a premixed solution;

the solution pump coupled to the reservoir; and

spray nozzles coupled to the solution pump,

wherein the vehicle command is a spray command causing the solution pump to deliver the premixed solution from the reservoir to the spray nozzles, wherein the nozzles cause the premixed solution to be ejected from the autonomous delivery vehicle.

7. The robotic agriculture system of claim 5, wherein the vehicle control unit receives at least one sensed input from at least one of a steering sensor, a speed sensor, a clutch pressure sensor, a flowmeter sensor, or a sprayer system pressure sensor, wherein the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command, the vehicle control unit issuing a vehicle command responsive to the at least one sensed input and the autonomous delivery vehicle responding to the vehicle command.

8. The robotic agriculture system of claim 1, wherein the autonomous delivery vehicle further comprises:

a hydraulic system, having;

a hydraulic steering apparatus that motivates that motivates the autonomous delivery vehicle in a selected left-right direction, and

the hydraulic pump fluidly coupled to drive the hydraulic motors and the hydraulic steering apparatus, and being mechanically coupled to the motive engine; and

a sprayer system, including;

a reservoir for holding a premixed solution,

the solution pump coupled to the reservoir, and

spray nozzles coupled to the solution pump,

wherein the dispersal fan and the solution pump are selectively caused to operate by the motive engine, and

wherein the solution pump is operated to deliver the premixed solution from the reservoir to the spray nozzles, wherein the dispersal fan creates a forced air stream ejected from the autonomous delivery vehicle, and wherein the nozzles cause the premixed solution to be ejected into the forced air stream.

9. The robotic agriculture system of claim 8, further comprising:

a vehicle control unit (VCU) coupled to an autonomous delivery vehicle (ADV) forward-looking LiDAR sensor and an ADV GPS sensor, the VCU generating a vehicle command based on the ADV forward-looking LiDAR sensor sensing the predefined path and the ADV GPS sensor sensing a predefined area containing the predefined path, the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command, the autonomous delivery vehicle responding to at least one vehicle command.

10. The robotic agriculture system of claim 9, further comprising:

a collision avoidance system attached to the front vehicle chassis of the autonomous delivery vehicle.

11. The robotic agriculture system of claim 10, wherein the collision avoidance system includes the autonomous delivery vehicle (ADV) forward-looking LiDAR sensor sensing an obstruction on the predefined path, wherein sensing the obstruction causes the ADV to stop.

12. The robotic agriculture system of claim 9, further comprising:

a collision mitigation system attached to the front vehicle chassis of the autonomous delivery vehicle (ADV), wherein the collision mitigation is a bumper on the ADV chassis front, wherein contact with the bumper causes the ADV to stop.

13. The robotic agriculture of claim 8, further comprising:

a remote control, independent of the autonomous delivery vehicle (ADV) chassis, the remote control wirelessly and selectably coupleable to the ADV, the remote control being configured to over-ride autonomous action and operate at least one of a steering function, a propulsion function, a clutch function, a spray system pressure function, a spray function, or an E-Stop function.

14. A robotic orchard spraying system, comprising:

autonomous delivery vehicles, configured to autonomously deliver respective predetermined amounts of a premixed solution over respective predefined paths within respective predefined areas, the respective predefined paths being identified by a respective autonomous delivery vehicle forward-looking LiDAR sensor and the respective predefined area being identified by a respective autonomous delivery vehicle GPS sensor, the respective autonomous delivery vehicles having respective premixed solution tanks coupled to the respective vehicle chassis;

a mobile control center, configured to wirelessly inform the autonomous delivery vehicles of the respective predefined paths within the respective predefined areas and to confirm that the autonomous delivery vehicles are following the respective predefined path within the respective predefined area;

a mapper vehicle, the mapper vehicle generating the respective predefined paths within the respective predefined areas; and

the mapper vehicle configured to communicate information about the respective predefined paths and the predefined areas to the control center, wherein the mapper vehicle senses the respective predefined paths with a mapper vehicle forward-looking LiDAR sensor, and senses the respective predefined area with a mapper vehicle GPS sensor; and

a nurse truck having a reservoir of premixed solution for replenishing the respective premixed solution tanks of the respective autonomous delivery vehicles;

wherein each of the autonomous delivery vehicles comprises;

a vehicle chassis with a front and a rear, wherein the front vehicle chassis has an up-sloped front profile;

a hydraulic system, having;

hydraulic motors attached to the vehicle chassis, wherein the hydraulic motors motivate the autonomous delivery vehicle,

a main hydraulic pump attached to the vehicle chassis and fluidly coupled to provide a driving force to the hydraulic motors, causing the autonomous delivery vehicle to go forwards or backwards,

a hydraulic actuator mechanically coupled to front wheels of the autonomous delivery vehicle,

an auxiliary hydraulic pump attached to the vehicle chassis and fluidly coupled to the hydraulic actuator to provide a steering force, causing the autonomous delivery vehicle to turn right or left,

a dispersal fan, attached to the vehicle chassis rear;

a sprayer system, including;

a reservoir for holding a premixed solution,

a solution pump coupled to the reservoir, and

spray nozzles coupled to the solution pump, wherein the solution pump is caused to deliver the premixed solution from the reservoir to the spray nozzles, wherein the dispersal fan is caused to create a forced air stream ejected from the autonomous delivery vehicle, and wherein the nozzles cause the premixed solution to be ejected into the forced air stream;

a motive engine coupled to the main and auxiliary hydraulic pumps, and to the solution pump and the dispersal fan, wherein the hydraulic pumps are caused to operate, wherein the solution pump and the dispersal fan are selectively caused to operate; and

a forward collision avoidance system responsive to at least one of the autonomous delivery vehicle forward-looking LiDAR sensors sensing an obstruction in the predefined path, wherein sensing the obstruction causes the autonomous delivery vehicle to stop.

15. The robotic orchard spraying system of claim 14, wherein each of the autonomous delivery vehicles comprises:

a vehicle control unit coupled to the autonomous delivery vehicle (ADV) forward-looking LiDAR sensor and to the ADV GPS sensor, the vehicle control unit generating a vehicle command based on the ADV forward-looking LiDAR sensor sensing the predefined path and the ADV GPS sensor sensing the predefined area containing the predefined path, the vehicle command including at least one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command, and the autonomous delivery vehicle responding to at least one vehicle command.

16. The robotic orchard spraying system of claim 15, wherein signals controlling the autonomous delivery vehicle include signals representing forward-looking LiDAR sensor sensing the predefined path, the autonomous delivery vehicle GPS sensor sensing the predefined area, one of a steering sensor input, a speed sensor input, a clutch pressure sensor input, a flowmeter sensor input, a sprayer system pressure sensor, or one of a steering command, a propulsion command, a throttle control command, a clutch command, a parking brake command, a spray command, or a pressure control command, wherein the signals are communicated to the mobile control center by a radio link between the autonomous delivery vehicle and the mobile control center.

17. The robotic orchard spraying system of claim 15, wherein the autonomous delivery vehicle includes a forward-viewing camera providing a video feed, wherein the video feed is wirelessly routed to the mobile control center, and wherein a forward path of the autonomous delivery vehicle is displayed in the mobile control center.

18. The robotic orchard spraying system of claim 15, wherein each of the autonomous delivery vehicles further comprises:

a remote control pad, independent of the autonomous delivery vehicle chassis, the remote control pad wirelessly and selectably coupleable to the autonomous delivery vehicle, the remote control being configured to over-ride autonomous action of the autonomous delivery vehicle and to operate at least one of steering, propulsion, clutch, spray system pressure, spray, or E-Stop.

19. A method for controlling a robotic agriculture system, the method comprising:

providing an autonomous delivery vehicle having a vehicle control unit, the vehicle configured to autonomously deliver a predetermined amount of premixed solution over a predefined path, the autonomous delivery vehicle including;

a forward looking LiDAR sensor,

a GPS sensor,

a vehicle chassis with a front and a rear, wherein the front vehicle chassis has an up-sloped front profile,

hydraulic motors attached to the vehicle chassis, wherein the hydraulic motors motivate the autonomous delivery vehicle in a selected direction,

a hydraulic pump attached to the vehicle chassis and fluidly coupled to drive the hydraulic motors,

a motive engine mechanically coupled to, and configured to drive, the hydraulic pump, and attached to the vehicle chassis,

a dispersal fan, attached to the vehicle chassis rear, and coupled to the motive engine, and

a solution pump attached to the vehicle chassis and coupled to the motive engine;

receiving by the vehicle control unit, sensor data indicative of the predefined path from the forward-looking sensor;

controlling, using the vehicle control unit, the hydraulic motors attached to the vehicle chassis to motivate the autonomous delivery vehicle in a selected direction based on the sensor data; and

controlling, using the vehicle control unit, the solution pump to selectively eject the predetermined amount of premixed solution over the predefined path with the dispersal fan.

20. The method of claim 19, further comprising:

determining a forward path adjacent to a row or rows of trees or vines or row crops; and

following the forward path between an adjacent row or rows of trees or vines or row of crops;

wherein controlling the solution pump to selectively eject the predetermined amount of premixed solution over the predefined path includes dispersing the premixed solution to contact ones of the adjacent row or rows of trees or vines or row crops.

21. The method of claim 20, further comprising:

downloading a pre-identified forward path adjacent a row or rows of trees or vines or row crops;

comparing the current forward path between adjacent row or rows of trees or vines or row crops to the downloaded pre-identified forward path adjacent a row or rows of trees or vines or row crops; and

autonomously correcting a heading corresponding to the downloaded forward path between two adjacent row or rows of trees or vines or row crops, using the forward looking sensor and the GPS sensor on the autonomous delivery vehicle.

22. The method of claim 19, further comprising:

downloading a predefined serpentine forward path having turns within a predefined area;

autonomously moving along the predefined serpentine forward path;

autonomously and selectively dispersing the premixed solution to trees or vines or row crops except during a turn in the serpentine path, wherein the predefined serpentine forward path is identified by a forward-looking LiDAR sensor, and the predefined area is identified by a GPS sensor.