Systems, devices, and methods for agricultural sample collection

Patent metadata

Field	Value
Publication number	US-11609159-B2
Application number	US-201815974243-A
Country	US
Kind code	B2
Filing date	May 8, 2018
Priority date	May 8, 2017
Publication date	Mar 21, 2023
Grant date	Mar 21, 2023

Abstract

The present subject matter relates to systems, devices, and methods for agricultural sample collection. In one aspect, a sample collection system includes an aerial robotic platform, an arm assembly coupled to the aerial robotic platform and comprising an arm that extends away from the aerial robotic platform, and a sample collector connected to a distal end of the arm, wherein the sample collector is configured to selectively remove one or more samples of agricultural material from a plant to be analyzed.

First claim

What is claimed is:

1. An agricultural sample collection system comprising:
an aerial robotic platform;
an arm assembly coupled to the aerial robotic platform and comprising an arm that extends away from the aerial robotic platform; and
a sample collector connected to a distal end of the arm, wherein the sample collector comprises:
a gripper assembly configured to grasp one or more samples of agricultural material on a plant to be analyzed;
a cutting assembly configured to selectively remove the one or more samples of agricultural material from the plant to be analyzed; and
a receptacle configured to receive the one or more samples of agricultural material therein.

2. The agricultural sample collection system of claim 1 , wherein the arm assembly comprises a base coupled to the aerial robotic platform; and
wherein the arm is connected to the base but is movable with respect to the base to change a distance by which the arm extends away from the aerial robotic platform.

3. The agricultural sample collection system of claim 2 , wherein the arm is pivotably coupled to the base.

4. The agricultural sample collection system of claim 2 , wherein the arm is movable to a storage position in which the sample collector is positioned beneath the aerial robotic platform.

5. The agricultural sample collection system of claim 1 , wherein the gripper assembly comprises:
a gripper tongue that is movable with respect to the receptacle to clamp the one or more samples of agricultural material on the plant to be analyzed between the gripper tongue and an upper peripheral edge of the receptacle.

6. The agricultural sample collection system of claim 1 , wherein the cutting assembly comprises:
a first cutter arm that is movable with respect to the gripper assembly, wherein the first cutter arm includes one or more first blades; and
a second cutter arm that is movable with respect to the gripper assembly independently from the first cutter arm, wherein the second cutter arm includes one or more second blades.

7. A method for acquiring agricultural samples, the method comprising:
positioning an aerial robotic platform in proximity to a plant to be analyzed;
grasping one or more samples of agricultural material on a portion of the plant to be analyzed;
selectively removing the one or more samples of agricultural material from the plant to be analyzed; and
transporting the one or more samples to a remote location for ex-situ analysis of the one or more samples;
wherein grasping one or more samples of agricultural material on a portion of the plant to be analyzed comprises:
extending an arm assembly away from the aerial robotic platform; and
grasping the one or more samples of agricultural material on the portion of the plant to be analyzed with a sample collector connected to a distal end of the arm;

wherein selectively removing the one or more samples of agricultural material comprises severing the one or more samples of agricultural material from the plant to be analyzed with a cutting assembly provided on the sample collector; and
wherein transporting the one or more samples comprises storing the one or more samples in a receptacle formed in the sample collector.

8. The method of claim 7 , wherein severing the one or more samples of agricultural material from the plant to be analyzed comprises:
actuating a first cutter arm that is movable with respect to the gripper assembly, wherein the first cutter arm includes one or more first blades; and
actuating a second cutter arm that is movable with respect to the gripper assembly independently from the first cutter arm, wherein the second cutter arm includes one or more second blades.

9. The method of claim 7 , wherein transporting the one or more samples comprises retracting the arm assembly to a storage position in which the sample collector is positioned beneath the aerial robotic platform.

10. An agricultural sample collection system comprising:
an environmental sensor probe comprising a first coupling member including a first engagement element; and
an aerial robotic platform comprising a second coupling member including a second engagement element configured to be selectively coupled to the first engagement element;
wherein the environmental sensor probe comprises a sample collector, wherein the sample collector is configured to receive one or more environmental samples therein to be analyzed;
wherein the sample collector comprises a receptacle configured to receive the one or more environmental samples therein;
wherein the sample collector comprises one or more containment flaps that are movable between an open position in which the receptacle is exposed to an external environment and a closed position in which the one or more containment flaps close around the receptacle to at least substantially isolate the receptacle from the external environment;
wherein the one or more containment flaps are moved to the open position upon decoupling of the first engagement element from the second engagement element; and
wherein the one or more containment flaps are moved to the closed position upon coupling of the first engagement element from the second engagement element.

11. The agricultural sample collection system of claim 10 , wherein the environmental sensor probe comprises a pest trap.

12. The agricultural sample collection system of claim 10 , wherein the first coupling member comprises a docking funnel configured to guide the second coupling member into engagement with the first coupling member.

13. The agricultural sample collection system of claim 10 , wherein the first engagement element comprises a ferromagnetic disc; and
wherein the second engagement element comprises a magnetic element.

14. The agricultural sample collection system of claim 13 , wherein the magnetic element comprises an electro-permanent magnet.

15. A method for acquiring agricultural samples, the method comprising:
positioning an environmental sensor probe in an area in proximity to a plant to be analyzed;
collecting one or more environmental samples from the area in proximity to the plant to be analyzed, wherein collecting one or more environmental samples comprises exposing a receptacle on the environmental sensor probe to an environment in the area in proximity to the plant to be analyzed, and wherein exposing the receptacle on the environmental sensor probe to the environment comprises moving one or more containment flaps between a closed position in which the receptacle is at least substantially isolated from the environment and an open position in which the receptacle is exposed to the environment;
coupling the environmental sensor probe to an aerial robotic platform;
moving the one or more containment flaps to the closed position upon coupling the environmental sensor probe to the aerial robotic platform; and
transporting the one or more environmental samples to a remote location for ex-situ analysis of the one or more environmental samples.

16. The method of claim 15 , wherein positioning the environmental sensor probe in the area in proximity to the plant to be analyzed comprises:
coupling the environmental sensor probe to the aerial robotic platform;
moving the aerial robotic platform to the area in proximity to the plant to be analyzed; and
decoupling the environmental sensor probe from the aerial robotic platform.

17. The method of claim 15 , wherein collecting one or more environmental samples comprises collecting one or more pests in a sample collector of the environmental sensor probe.

18.

Assignees

• Univ Pennsylvania

Inventors

• Orol Daniel
• Vacek Lukas
• Kaufman Delaney Vanessa
• Das Jnaneshwar
• Kumar R Vijay

Classifications

• B64U2101/40

  for agriculture or forestry operations · CPC title

• B64U2101/10

  for generating power to be supplied to a remote station, e.g. UAVs with solar panels · CPC title

• B64U80/70

  in containers (B64U80/60 takes precedence) · CPC title

• B64U2101/64

  for parcel delivery or retrieval · CPC title

• B64U80/25

  for recharging batteries; for refuelling · CPC title