Autonomous robotic agricultural machine and system thereof

Patent metadata

Field	Value
Publication number	US-9891629-B2
Application number	US-201615015265-A
Country	US
Kind code	B2
Filing date	Feb 4, 2016
Priority date	Feb 4, 2016
Publication date	Feb 13, 2018
Grant date	Feb 13, 2018

Abstract

An autonomously robotic machine for performing one or more agricultural operations. The machine includes a frame having a length and an adjustable width. A plurality of ground-engaging mechanisms are coupled to the frame for propelling the machine in a direction of travel. The machine includes a controller, a power-generating device, and a generator. The controller controls the machine, and the generator receives mechanical power from the power-generating device and produces electrical power. A docking assembly is coupled to the frame. The docking assembly includes a power unit and at least one coupler for coupling to any one of a plurality of agricultural implements.

First claim

The invention claimed is:

1. An autonomously robotic machine for performing one or more agricultural operations, comprising:
a frame having a length and an adjustable width;
a plurality of ground-engaging mechanisms coupled to the frame for propelling the machine in a direction of travel;
a controller for autonomously controlling the machine;
a position sensor coupled to the frame and disposed in electrical communication with the controller, the position sensor detecting a width of the frame; an actuator electrically coupled to the generator and the controller;
a power unit including a power-generating device and a generator, the power-generating device being mounted to the frame for producing mechanical power and the generator being coupled to the power-generating device to receive at least a portion of the mechanical power and produce electrical power; and
a docking assembly coupled to the frame, the docking assembly including at least one coupler configured to couple to any of a plurality of agricultural implements;
wherein, the controller operably controls the actuator for adjusting the frame width in response to a width of an implement selected from the plurality of agricultural implements for coupling to the docking assembly;
wherein the docking assembly is coupled to the power unit and is configured to power any of the plurality of agricultural implements when coupled to the docking assembly;
further wherein, the at least one coupler is positioned at least partially beneath the frame and between the ground engaging mechanisms.

2. The machine of claim 1 , further comprising:
a position sensor coupled to the frame and disposed in electrical communication with the controller, the position sensor detecting a height of the frame; and
an actuator electrically coupled to the generator and the controller;
wherein, the controller operably controls the actuator for adjusting the height of the frame between a lowered position and a raised position.

3. The machine of claim 1 , wherein the power unit comprises a diesel-electric or natural gas-electric unit.

4. The machine of claim 1 , further comprising a motor electrically coupled to the generator, wherein the motor receives electrical power from the generator for driving at least one of the plurality of ground-engaging mechanisms.

5. The machine of claim 1 , further comprising a sensor disposed in electrical communication with the controller, the sensor configured to provide visual feedback to the controller of an area around or under the frame.

6. The machine of claim 1 , further comprising:
a global positioning sensor disposed in electrical communication with the controller; and
a speed sensor disposed in electrical communication with the controller;
wherein, the global positioning sensor is configured to provide a location of the machine and the speed sensor is configured to provide a speed of at least one of the plurality of ground-engaging mechanisms to the controller.

7. The machine of claim 1 , wherein an implement-receiving area is defined at least partially below the frame, the implement-receiving area configured to receive one of the plurality of agricultural implements when coupled to the docking assembly Wherein at least a portion of the implement is positioned below the frame and between the plurality of ground engaging mechanisms.

8. The machine of claim 1 , wherein the at least one coupler of the docking assembly comprises an implement docking locking mechanism and an electrical or hydraulic connecting mechanism.

9. The machine of claim 1 , wherein the docking assembly is operably coupleable to any one of a planting implement, a tillage implement, a harvesting implement, and a spraying implement.

10. An agricultural system for performing an agricultural operation, comprising:
an autonomous robotic machine including a frame, a plurality of ground-engaging mechanisms coupled to the frame, a controller, a power-generating device mounted to the frame for producing mechanical power, a generator coupled to the power-generating device, and a docking assembly coupled to a bottom portion of the frame between the plurality of ground-engaging mechanisms, wherein the docking assembly includes a power unit and at least one coupler;
a control unit located remotely from the machine, the control unit being in electrical communication with the controller to communicate an instruction thereto;
a position sensor coupled to the frame and disposed in electrical communication with the controller, the position sensor detecting a height or width of the frame; an actuator electrically coupled to the generator and the controller;
a docking station for coupling to the docking assembly, the docking station configured to store one or more of fuel, water, and electrical power; and
a plurality of sensors positioned on the machine, wherein each of the plurality of sensors is electrically coupled to the controller;
wherein, the controller operably controls the actuator for adjusting the height or width of the frame in response to a width of an implement selected from the plurality of agricultural implements for coupling to the docking assembly and performing the agricultural operation;
wherein, the controller receives the instruction from the control unit, and the controller operably controls the machine based on the instruction to perform an agricultural operation.

11. The system of claim 10 , wherein the control unit comprises a memory unit for storing a map of a work area, a list of agricultural operations, and operating instructions;
further wherein, the control unit communicates a command to the controller to autonomously couple the docking assembly to any of a plurality of agricultural implements, move to a location in the work area, and execute operating instructions to perform the agricultural operation.

12. The system of claim 11 , wherein the plurality of agricultural implements comprises a tillage implement, a planting implement, a harvesting implement, or a spraying implement.

13. The system of claim 11 , wherein at least one of the plurality of sensors comprises a positioning sensor for detecting when the agricultural implement is coupled to the docking assembly, the positioning sensor communicating with the controller when the docking assembly is coupled to the agricultural implement.

14. A method of controlling an autonomously robotic machine to perform an agricultural operation, comprising:
providing an autonomous robotic machine including a frame, a plurality of ground-engaging mechanisms, a controller, a power-generating device for producing mechanical power, a generator coupled to the power-generating device and producing electrical power, and a docking assembly coupled to the frame between the plurality of ground engaging mechanisms, the docking assembly including a power unit;
receiving an instruction from a control unit located remotely from the machine, the instruction commanding the controller to perform at least one agricultural operation with at least one of a plurality of agricultural implements at a location in a work area, where the instruction identifies the at least one agricultural implement;
executing the instruction to maneuver the machine to an implement storage area so that the docking assembly is in position at least partially above the at least one agricultural implement identified in the instruction;
controlling a width or height of the frame based on the instruction in response to a width or height of the at least one agricultural implement;
coupling the docking assembly to the at least one agricultural implement;
adjusting the height and w

Assignees

• Deere & Co

Inventors

• Murray Cole L
• Barker Mark E

Classifications

• G05D1/0278

  using satellite positioning signals, e.g. GPS · CPC title

• G05D1/0276 Primary

  using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058) · CPC title

• A01C21/00

  Methods of fertilising {, sowing or planting} · CPC title

• A01B79/00

  Methods for working soil · CPC title

• B60K6/20

  the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs · CPC title