Substance delivery systems and methods

Abstract

Described herein is an airborne substance delivery system (100) including an unmanned aerial vehicle (UAV) (102) and a substance delivery assembly (114) mounted on the UAV (102). The substance delivery assembly (114) includes a rotating cartridge (104) defining a plurality of channels (212) extending parallel to a longitudinal axis (206) of the rotating cartridge, each channel (212) holding a respective set of tablets (214) therein, an indexing motor (240) configured to intermittently rotate the channels (212), and a dispenser (112) configured to deliver a single tablet (214) at a time from the rotating cartridge (104) to a target location. Methods of operating such a system are also described.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 63 / 290,906, filed December 17, 2021.

[0002] SUMMARY The present disclosure is directed to substance delivery systems and, more particularly, to substance delivery systems and methods for delivering products in tablet-based form. [Background technology]

[0003] The use of drones or unmanned aerial vehicles (UAVs) in agricultural applications, such as treating fields with chemical products, is expanding rapidly. A container of the chemical product is coupled to the UAV and a material delivery system mounted on the UAV, and the UAV is maneuvered above the area to be treated while the chemical product is delivered. Summary of the Invention [Problem to be solved by the invention]

[0004] There is a need for more efficient and precise control of the delivery of chemicals in tablet form using UAVs. [Means for solving the problem]

[0005] In one aspect, an airborne substance delivery system includes an unmanned aerial vehicle (UAV) and a substance delivery assembly onboard the UAV, the substance delivery assembly including a rotating cartridge defining a plurality of channels extending parallel to a longitudinal axis of the rotating cartridge, each channel holding a respective set of tablets therein, an indexing motor configured to intermittently rotate the channels, and a dispenser configured to deliver a single tablet at a time from the rotating cartridge to a target location.

[0006] In another aspect, the method includes providing a substance delivery assembly including a rotating cartridge defining a plurality of channels extending parallel to a longitudinal axis of the rotating cartridge, each channel holding a respective set of tablets therein, an indexing motor configured to intermittently rotate the channels, and a dispenser. The method also includes removably mounting the substance delivery assembly to an unmanned aerial vehicle (UAV) and using the substance delivery assembly to deliver the tablets from the UAV to a target location. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram of an exemplary airborne substance delivery system. [Diagram 2] 2 is a perspective view of an exemplary substance delivery assembly used in the substance delivery system shown in FIG. 1. [Diagram 3] 3 is a perspective view of an end plate used in the substance delivery assembly shown in FIG. 2. [Figure 4] FIG. 3 is an end view of the substance delivery assembly shown in FIG. 2. [Diagram 5] 3 is a cross-sectional view of the substance delivery assembly shown in FIG. 2. [Figure 6] FIG. 3 is a perspective view of the arrangement of certain components of the substance delivery assembly shown in FIG. 2. [Figure 7] 3A-3C are left side, front and rear views, respectively, of an ejection mechanism used in the substance delivery assembly shown in FIG. 2. [Figure 8] 3A-3C are left side, front and rear views, respectively, of an ejection mechanism used in the substance delivery assembly shown in FIG. 2. [Figure 9] 3A-3C are left side, front and rear views, respectively, of an ejection mechanism used in the substance delivery assembly shown in FIG. 2. [Figure 10] 3 is a first enlarged perspective view of a dispenser used in the substance delivery assembly shown in FIG. 2. [Figure 11] FIG. 11 is a second enlarged perspective view of the dispenser shown in FIG. [Figure 12] 3 is an exploded view of an exemplary end cap assembly suitable for use with the substance delivery assembly shown in FIG. 2. [Figure 13] FIG. 13 is a perspective view of the end cap assembly shown in FIG. 12. [Figure 14] FIG. 13 is a top view of the end cap housing of the end cap assembly shown in FIG. 12. [Figure 15] 2 is a perspective view of another exemplary substance delivery assembly for use in the substance delivery system shown in FIG. 1. [Figure 16] FIG. 16 is a cutaway view of the substance delivery assembly shown in FIG. [Figure 17] 16 illustrates a portion of an indexing mechanism used in the substance delivery assembly shown in FIG. 15. [Figure 18] FIG. 16 is a partial view of a tablet being indexed in the substance delivery assembly shown in FIG. 15. [Figure 19] 16 is a partial cutaway view of a dispenser used in the substance delivery assembly shown in FIG. 15. [Figure 20] 16 is a partial cutaway view of a dispenser used in the substance delivery assembly shown in FIG. 15. [Figure 21] 16 is a partial cutaway view of a dispenser used in the substance delivery assembly shown in FIG. 15. [Figure 22] FIG. 16 is a perspective view of a tablet used in the substance delivery assembly shown in FIG. 15. [Diagram 23] 2 is a flow chart of a method of using or operating an airborne substance delivery system such as the airborne substance delivery system shown in FIG. 1 . DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] The present disclosure generally relates to a substance delivery system for delivering a tablet-based form of product. In a particular embodiment, the present disclosure relates to a substance delivery system including a rotating cartridge configured to hold a tablet-based chemical product therein, the cartridge being mounted on an unmanned aerial vehicle (UAV) or drone. The substance delivery system further includes at least one dispenser configured to deliver tablets from the rotating cartridge with a predictable delivery direction and velocity. Thus, the substance delivery system can be implemented to deliver the tablet-based chemical product efficiently, accurately and precisely to a target location.

[0009] FIG. 1 illustrates a schematic diagram of an exemplary airborne substance or chemical delivery system 100 according to the present disclosure. In an exemplary embodiment, the airborne substance delivery system 100 is implemented using an unmanned aerial vehicle (UAV) or drone 102. As used herein, UAV generally refers to any unmanned or remotely operated air vehicle or system. The airborne substance delivery system 100 includes the UAV 102 and a rotating cartridge 104 mounted thereon. The rotating cartridge 104 includes a plurality of tablet-based chemical products (also more generally referred to herein as "tablets" and not shown in FIG. 1) that are delivered using the airborne substance delivery system 100.

[0010] The UAV 102 generally includes a body 106 defined by a hub 108 and a number of spoke-like arms 110. In an exemplary embodiment, the rotating cartridge 104 is releasably or removably mounted to the UAV body 106. At least one dispenser 112 for dispensing tablets from the rotating cartridge 104 is mounted to the rotating cartridge 104 and / or the UAV body 106. The rotating cartridge 104 containing the tablets and the dispenser 112 may be collectively referred to as a substance delivery assembly 114 of the substance delivery system 100.

[0011] The UAV 102 also includes a propulsion system 116 that generates lift to facilitate flight of the UAV 102. The propulsion system 116 may generally include any suitable propulsion system that enables the UAV 102 to perform the functions described herein. In the illustrated embodiment, the propulsion system 116 is a rotary wing propulsion system that includes a plurality of rotors 118, which may include variable pitch or fixed pitch blades. Although the UAV 102 is shown and described as a rotary wing UAV, it should be understood that the systems and methods described herein may be implemented in UAVs other than rotary wing UAVs, such as fixed wing UAVs. In such embodiments, the propulsion system 116 may include propellers in addition to or in place of the rotors 118.

[0012] The propulsion system 116 further includes one or more motors 120 operably coupled to the rotor 118 and configured to drive, i.e., rotate, the rotor 118 in response to control signals. Although only one motor 120 is illustrated in FIG. 1, it should be understood that the propulsion system 116 may include any suitable number of motors that enable the UAV 102 to perform the functions described herein. In some embodiments, for example, each rotor 118 has a dedicated motor operably coupled to control the respective rotation of the rotor 118. Furthermore, the motors 120 may be any suitable motors that enable the propulsion system 116 to perform the functions described herein, such as, but not limited to, electric motors and gasoline-powered engines.

[0013] To operate the propulsion system 116, control signals are sent to the motors 120 (e.g., from a controller 124, described in more detail below). The motors 120 actuate the rotors 118 to rotate the rotors 118 and generate lift. For example, the relative speed of each of the rotors 118 can be varied to vary the thrust and resulting torque, thereby achieving control of the UAV 102.

[0014] The airborne substance delivery system 100 further includes a power source 122 operably coupled to the UAV body 106 and configured to power the UAV 102 (e.g., motors 120, controller 124, etc.) and / or a substance delivery assembly 114 to perform the functions described herein (e.g., flight, substance delivery, etc.). In an exemplary embodiment, the power source 122 includes a battery, which should be understood to include a single battery, multiple batteries, a battery pack, etc.

[0015] Additionally, the UAV 102 includes an on-board controller or computer 124 that is coupled in operational control communication with the various components of the airborne substance delivery system 100 (e.g., the UAV 102 and the substance delivery assembly 114) to facilitate various electronic and / or automated control thereof. For example, the controller 124 is configured to control the UAV 102 and the substance delivery assembly 114 according to stored or received controls. The controller 124 includes at least one processor 126 for executing instructions. In some embodiments, the executable instructions are stored in a memory 128. In some embodiments, the processor 126 includes one or more processing units (e.g., in the form of a multi-core configuration). ). Memory 128 is any device that allows for the storage and retrieval of information, such as executable instructions and / or other data. Specifically, in some embodiments, memory 128 includes, but is not limited to, random access memory (RAM), such as dynamic RAM (DRAM) or static RAM (SRAM), read only memory (ROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), and non-volatile RAM (NVRAM). The types of memory mentioned above are merely exemplary and are not limiting of the types of memory that can be used to store computer programs.

[0016] In some embodiments, the controller 124 is connected to any component of the airborne substance delivery system 100 via wired and / or wireless connections. In some embodiments, the controller 124 is configured to operate and control the propulsion system 116 to facilitate the UAV 102 moving along a predetermined (e.g., stored) or controlled (e.g., manually steered by a user) path, and to facilitate activating and deactivating the substance delivery assembly 114 according to stored or received controls. In one exemplary embodiment, the controller 124 is configured to facilitate operating the UAV 102 to fly over a target location, such as a farm field or rice paddy, and operating the dispenser 112 to deliver tablets contained in the rotating cartridge 104 from the UAV 102 while the UAV 102 is flying over the target location, and apply the chemical product in the tablets to the target location.

[0017] Accordingly, the controller 124 may include a communications interface 130 that is communicatively connectable with any of the components of the airborne substance delivery system 100 described herein and / or a remote device (e.g., a remote control) that communicates control information for controlling the operation of the airborne substance delivery system. In some embodiments, the communications interface 130 may include, for example, but is not limited to, a wired or wireless network adapter or a wireless data transceiver employed to communicate over a wireless link (e.g., a narrowband or broadband wireless link), a cellular or mobile data network (e.g., 3G, 4G, or 5G network technology), or a Bluetooth link.

[0018] The airborne substance delivery system 100 (e.g., the UAV 102 and / or the substance delivery assembly 114) may include additional components including one or more sensors (e.g., inertial sensors, gyroscopes, accelerometers, GPS sensors, etc.) and / or imaging devices (e.g., cameras, video recorders) in data communication with the controller 142 for operation of the airborne substance delivery system 100 (e.g., the UAV 102 and / or the substance delivery assembly 114). For example, the airborne substance delivery system 100 may include sensors and / or imaging devices for real-time data collection regarding any operation of the airborne substance delivery system 100, such as, for example, error detection (e.g., abnormal operation of the substance delivery assembly 114, tablets not delivered, etc.), position determination and control, environmental data (e.g., temperature and / or humidity of the environment and / or any components of the airborne substance delivery system 100), diagnostics, etc.

[0019] The controller 124 may be configured to analyze data from any such sensors or devices for real-time reactive control of the airborne substance delivery system 100 according to pre-programmed instructions. For example, the controller 124 may analyze error / diagnostic information to determine that a delivery pattern has been interrupted and that a particular location may need to be reprocessed. As another example, the controller 124 may be configured to perform an in-flight termination of operations. In some cases, termination of operations may include controlling the airborne substance delivery system 100 to terminate all product delivery and return to a base location. In other cases, if a significant anomaly is detected, termination of operations may include controlling the airborne substance delivery system 100 to immediately land.

[0020] 2, 4, and 5, there is illustrated one exemplary embodiment of the substance delivery assembly 114. As noted above, the substance delivery assembly 114 is coupled to the UAV 102 (not shown in FIGS. 2, 4, and 5) for operation in delivering a chemical product at a target location.

[0021] In this embodiment, the rotating cartridge 104 is a cylindrical cartridge having a first end or bottom end 202 and a second end or top end 204. The designations "top" and "bottom" are used herein based on the operational configuration of the rotating cartridge 104 when it is in use in conjunction with the UAV 102. In this operational configuration, the first end 202 faces vertically downward (e.g., toward a ground surface to be treated) and the second end 204 faces vertically upward. The rotating cartridge 104 extends from the bottom end 202 to the top end 204 along a longitudinal axis 206.

[0022] The rotating cartridge 104 includes a cylindrical sidewall 208 surrounding a magazine 210 that defines a plurality of longitudinally or axially extending channels 212 therein. Each channel 212 extends from a lower end 202 to an upper end 204 of the rotating cartridge 104, such that the lower and upper ends of each channel 212 generally correspond to the lower and upper ends 202 and 204, respectively, of the rotating cartridge 104.

[0023] Each channel 212 is cylindrical and configured to hold a plurality of tablets 214 therein. In an exemplary embodiment, the tablets 214 in the channels 212 are all oriented parallel to one another and stacked in an ejection orientation. As used herein, the ejection orientation of the tablets 214 in this embodiment refers to the orientation shown in FIG. 2, for example, where both sides of the tablets 214 face in opposing vertical directions parallel to the longitudinal axis 206.

[0024] In some cases, all of the channels 212 contain tablets of the same type; that is, only one type of tablet or one type of chemical product is included in the rotating cartridge 104. In other embodiments, the channels 212 may hold different tablets, each containing a different chemical product. In an exemplary embodiment, the rotating cartridge 104 also includes channels 212 arranged in a double ring or concentric annular row 216, with each row 216 having the same number of channels 212. However, it should be readily understood that the rotating cartridge 104 may include any number of channels 212 in any suitable arrangement, and the present disclosure is not limited to the specific number or arrangement of channels 212 shown in FIGS. 2 and 4. Furthermore, while the channels 212 are illustrated as all having approximately the same diameter, it should be readily understood that in other embodiments, the rotating cartridge 104 may include channels 212 of any size, including one or more channels 212 of different sizes in a single cartridge 104. A variety of tablets 214 with different formulations may be provided in a single rotating cartridge 104. In some embodiments, one row 216 of the channels 212 of the rotating cartridge 104 contains tablets of a different formulation and the other row 216 contains tablets of a second formulation. Any other arrangement of identical or different tablets is contemplated within the scope of the present disclosure. Tablets of different sizes, shapes and / or weights may also be provided in the rotating cartridge 104.

[0025] The lower end of each channel 212 defines an opening 218 at the lower end of the magazine 210 through which the tablets 214 are ejected one at a time from the respective channel 212. A corresponding notch 220 is also defined in the lower end of the magazine 210 tangentially adjacent to the corresponding opening 218.

[0026] As shown diagrammatically in FIG. 6, an ejection mechanism 222 is located within each channel 212. Specifically, the ejection mechanism 222 extends axially through each channel 212 from a lower end of the channel 212 toward an upper end of the channel. With reference to FIGS. 6-9, the ejection mechanism includes a cassette 224 that houses a spool 226 and an anchor 228 extending from the cassette. The anchor 228 is formed of a spoolable material and may include a metal, polymer, or other inert material suitable for use within the channel 212. A terminal end 230 of the anchor 228 is received within the respective notch 220. The anchor 228 extends from its terminal end 230 into the cassette 224 where it is wound around the spool 226. The spool 226 is biased to wind the anchor 228 therearound. With this configuration, the cassette 224 is biased downward or toward the lower end of the channel 212. When the channel 212 contains tablets 214, the cassette 224 is positioned adjacent to the top of the channel 212, opposite the last, uppermost tablet in the channel 212. The bottom edge of the cassette 224 is positioned opposite the top surface of the last tablet. The cassette 224 is biased toward the bottom end of the channel 212 via the anchor 228 and the spool 226, such that the cassette 224 exerts a downward force (e.g., a force toward the bottom) on the last tablet, and thereby all tablets in the channel 212. In this manner, the ejection mechanism 222 maintains a downward biasing force against the tablets 214 retained in the channel 212.

[0027] At least one dispenser 112 is operably coupled to the rotating cartridge 104 adjacent a bottom end 202 of the rotating cartridge 104. In an exemplary embodiment, two dispensers 112 are operably coupled to the rotating cartridge 104, while in alternative embodiments, one, three, four or more dispensers 112 are coupled to the rotating cartridge 104. An indexing motor 240 is also operably coupled to the rotating cartridge 104. In an exemplary embodiment, the indexing motor 240 is also located at the bottom end 202 of the rotating cartridge 104, while in alternative embodiments, the indexing motor 240 is located elsewhere, such as at the top end 204 or midway between the top end 204 and the bottom end 202 of the rotating cartridge 104.

[0028] The indexing motor 240 is configured to rotate or index the magazine 210 about the longitudinal axis 206 at a predictable speed or pattern, or according to other specific instructions (e.g., from the controller 124). Each time the indexing motor 240 indexes the magazine 210, a respective tablet 214 is presented to each dispenser 112 for delivery from the substance delivery assembly 114.

[0029] In some embodiments, the bottom end of the magazine 210 is closed by an end wall or end plate 242, shown in Figure 3. The end plate 242 is fixed relative to the index motor 240 and has one or more holes 244 therethrough corresponding to the positions of the dispensers 112. Thus, as the magazine 210 is indexed by the index motor 240, the different channels 212 (and the tablets 214 contained therein) are aligned with the holes 244 and exposed to the dispensers 112. Due to the biasing force by the ejection mechanism 222, the ejection mechanism 222 causes the tablets 214 to be delivered from the channels 212 through the holes 244 to the respective dispensers 112.

[0030] 10 and 11, an exemplary dispenser 112 is shown in greater detail. The dispenser 112 includes a motor 250, a rotating arm 252, a spring 254, and a hammer 256. The motor 250 may include, for example, but is not limited to, a continuously rotating servo motor. The rotating arm 252 is operatively coupled to the motor 250 by a shaft 258. The rotating arm 252 includes two opposing extensions 260, each of which includes a foot 262 extending therefrom.

[0031] The hammer 256 includes a body 264 having a first end 266 and a second end 268. The first end 266 includes a hook 270 defining an entrance 272 that extends through a portion of the first end 266 of the body 264. Each foot 262 of the extension 260 of the rotating arm 252 is sized and shaped to be received in the entrance 272 and engage the hook 270 as the rotating arm 252 rotates. In this exemplary embodiment, the second end 268 of the body 264 includes a pocket 274 defining a cavity 276 for receiving the tablet 214 therein. The pocket 274 includes an exit 278 defined in a side wall thereof. The spring 254 is embodied as a torsion spring having a first leg 280 operably coupled to the motor 250 and a second leg 282 operably coupled to the hammer body 264.

[0032] In operation, the dispenser 112 is appropriately positioned relative to the rotating cartridge 104 such that the pocket 274 of the hammer 256 is aligned with one of the holes 244 in the end plate 242 (e.g., located below the hole 244 when the rotating cartridge 104 is in an operative configuration). As the indexing motor 240 indexes the magazine 210, under a biasing force from the ejection mechanism 222, a tablet 214 is ejected from the channel 212 aligned with the hole 244 in the end plate 242, through the hole 244, and into the pocket 274 of the hammer 256.

[0033] The rotating arm 252 is driven via a shaft 258 to rotate in a direction 290 by a motor 250 at some predictable speed or otherwise in response to a control command (e.g., from the controller 124). As the rotating arm 252 rotates, the foot 262 engages the hook 270 of the hammer 256, driving the hammer in a first direction 292. As the hammer 256 is driven in the first direction 292, the torsion spring 254 is compressed. Eventually, as the rotating arm 252 continues to rotate in the direction 290, the foot 262 disengages from the hook 270. The torsion spring 254 releases tension and abruptly pushes the hammer 256 back in a second direction opposite the first direction 292. This abrupt movement of the hammer 256 ejects the tablet 214 from the pocket 274 through an outlet 278 therein. The tablets 214 are released at a predetermined known orientation, speed and direction for desired delivery at a target location (eg, farm field, rice paddy, etc.).

[0034] 12-14, which may house or contain certain operational components of the material delivery assembly 114, such as the dispenser 112 and the indexing motor 240. In the exemplary embodiment, the end cap assembly 400 includes an interior end wall or end plate 402 and an end cap housing 404 coupled to the end plate 402.

[0035] The internal end plate 402 has a similar structure and function as the end plate 242. More specifically, the internal end plate 402 is positioned against the lower end of the magazine 210 and is fixed relative to the index motor 240. The internal end plate 402 includes one or more holes 406 therethrough, each positioned such that one of the channels 212 (and tablets 214 contained therein) is aligned when the magazine 210 is indexed or rotated by the index motor 240. In this embodiment, the internal end plate 402 also includes an opening or slot 408 through which at least a portion of the index motor 240 can protrude, as illustrated in FIG.

[0036] The end cap housing 404 is also fixed relative to the indexing motor 240. The end cap housing 404 has a plate-like structure and defines a plurality of cavities and channels for housing therein components of the material delivery assembly 114, such as the dispenser 112 and the indexing motor 240. As shown in FIG. 14, for example, the exemplary end cap housing 404 defines two dispenser cavities 410 each having a size and shape for housing a dispenser 112 therein. For example, each dispenser cavity 410 includes a motor portion 412 having a size and shape for housing a dispenser motor 250 therein, a spring portion 416 having a size and shape for housing a dispenser torsion spring 254 therein, and a hammer portion 414 having a size and shape for housing a dispenser hammer 256 therein. The end cap housing 404 also includes a spring shaft 418 associated with the spring portion 416 of each dispenser cavity 410. When the end cap assembly 400 is assembled, the torsion spring 254 of the dispenser 112 connects to the spring shaft 418 .

[0037] The end cap housing 404 also defines a tablet channel or chute 420 extending linearly from each dispenser cavity 410 to a respective output outlet 422 disposed along the periphery of the end cap housing 404. An inlet end 424 of each tablet chute 420 is aligned and positioned below one of the holes 406 in the end plate 402 to receive a tablet 214 therein. Each tablet chute 420 is aligned with and parallel to the direction of movement of the respective indexing hammer 256 such that the indexing hammer 256 may extend (fully or partially) into the tablet chute 420 when the indexing hammer 256 is actuated by the motor 250 and torsion spring 254. In an exemplary embodiment, the tablet chute 420 has a width greater than a corresponding width of the hammer portion 414 of the dispenser cavity 410. In this embodiment, the hammer 256 does not include a pocket 274, a cavity 276, or an exit port 278, but instead engages the tablet 214 with the second end 268 of the body 264 (shown in FIGS. 10-11).

[0038] In operation, the indexing motor 240 indexes or rotates the magazine 210 so that the channel 212 of the magazine 210 is aligned with the aperture 406 of the internal end plate 402. The ejection mechanism 222 exerts a biasing force on the tablet 214 within the channel 212, which causes the tablet 214 to be delivered through each aperture 406 in the internal end plate 402 and into a respective tablet chute 420 in the end cap housing 404. The hammer 256 of each dispenser 112 is pulled back within the hammer portion 414 of the dispenser cavity 410 by the rotation of the pivot arm 252, as described above, compressing the torsion spring 254. As the pivot arm 252 continues to rotate, the foot 262 reaches a release point and disengages from the hook 270, allowing the torsion spring 254 to release the built-up tension and drive the hammer 256 sharply forward toward the tablet chute 420. A second end 268 of the hammer body 264 engages the tablet 214 and moves the tablet 214 out through a tablet chute 420 towards an outlet 422. In some embodiments, the tablet 214 is released through the outlet 422 at a predetermined known orientation, velocity and direction for desired delivery at a target location (e.g., a farm field, a rice paddy, etc.).

[0039] The substance delivery assembly 114 of the exemplary embodiment may also be configured to facilitate the delivery of a fluent product in conjunction with the delivery of tablets. As shown in particular in FIGS. 2, 4, and 5, the rotating cartridge 104 may have an annular open channel 294 at its center. In at least some embodiments, a container 296 configured to store a fluent chemical product (e.g., liquid, powder, granular, etc.) may be disposed in the open channel 294 and coupled to the rotating cartridge 104 and / or UAV 102. A dispenser head 298 may couple to the container 296 and facilitate continuous and / or intermittent delivery of the fluent product in a flow, spray, or aerosol manner and / or in any suitable manner depending on the type of dispenser head 298 and its control (e.g., by the controller 142). For example, if the fluent product is a liquid, the dispenser head 298 may include a fluid outlet or nozzle, such as, but not limited to, a flat fan type, a hollow cone type, and / or a spinning disk type nozzle. If the fluent product is a dry substance such as a flowable granule and / or a flowable powder, the dispenser head 298 includes at least one material spreader, such as a horizontal or vertical spreader, such as, but not limited to, a rotary spreader. The product may be delivered from the container 296 continuously or intermittently, for example, according to control instructions from the controller 124. In this manner, the fluent product may be delivered before, during or after the delivery of the tablets 214 for precise control according to desired dosing parameters.

[0040] 15 and 16, there is shown another embodiment of a substance delivery assembly 114, referenced by the numeral 114'. Similarly, components similar to those shown and described with respect to FIG. 1 are designated with a prime symbol ('). As mentioned above, the substance delivery assembly 114' is coupled to the UAV 102 (not shown in FIGS. 15 and 16) for operation in delivering a chemical product at a target location.

[0041] In this embodiment, the rotating cartridge 104' is slightly tapered and extends from a thicker first or bottom end 302 to a thinner second or top end 304. The designations "top" and "bottom" are used herein based on the operational configuration of the rotating cartridge 104' when the rotating cartridge 104' is in use in conjunction with the UAV 102. In this operational configuration, the first end 302 faces vertically downward (e.g., toward the ground surface being treated) and the second end 304 faces vertically upward. The rotating cartridge 104' extends from the bottom end 302 to the top end 304 along a longitudinal axis 306.

[0042] The rotating cartridge 104' includes an outer shell 308 extending from an upper end 304 to a lower end 302 and defining a cavity 310 therein. An end plate 312 corresponds to the lower end 302 of the rotating cartridge 104'. A plurality of tablets 314 are held within the cavity 310. An indexing mechanism 316 is housed in the outer shell 308 adjacent the end plate 312 within the cavity 310. As shown in FIGS. 16 and 17, the indexing mechanism 316 includes a cone-shaped distributor 318 having a convex, inclined upper surface 320. A plurality of grooves 322 are defined in the distributor upper surface 320. The indexing mechanism 316 also includes a magazine 324 circumscribing the distributor 318, the magazine 324 including a sidewall 326 and defining a plurality of channels 328 separated by radially extending walls 330. In the exemplary embodiment, distributor 318 includes a same number of grooves 322 as the number of channels 328 in magazine 324. Indexing mechanism 316 also includes a first motor (not shown, which may be referred to as an index motor) housed within a chamber defined by distributor 318.

[0043] The magazine channel 328 has a width W defined between adjacent walls 330. In the exemplary embodiment, the channel width W is approximately equal to a size (e.g., diameter) of the tablets 314 retained in the rotating cartridge 104'. In addition, the end plate 312 includes at least one hole 332 defined therethrough. Each hole 332 has a width approximately equal to the channel width W. The holes 332 are also located a predetermined radial distance from the longitudinal axis 306 of the rotating cartridge 104' such that the holes 332 are axially aligned with the magazine channel 328.

[0044] During operation, tablets 314 in cavity 310 of outer shell 308 are pulled under gravity along cone-shaped upper surface 320 of distributor 318 and guided into channels 328 via grooves 322. In addition, magazine 324 is rotated about longitudinal axis 306 by the first motor to distribute tablets 214 evenly among channels 328.

[0045] In particular, each tablet 314 is guided into a single channel 328 and held in the channel 328 in an ejection orientation between the magazine side wall 326 and the inner surface of the outer shell 308. As used herein, the ejection orientation of the tablet 314 in this embodiment refers to the orientation shown in Figures 16, 18 and 22, in which the convex faces of the tablet 314 face opposite a horizontal direction parallel to the ground surface (not shown). In other words, the tablet 314 is "sideways" or side edge-facing in the ejection orientation.

[0046] At least one dispenser 112' is operably coupled to the rotating cartridge 104' adjacent a bottom end 302 of the rotating cartridge 104'. In the exemplary embodiment, only one dispenser 112' is shown. In other embodiments, a second dispenser 112' is coupled to the rotating cartridge 104' approximately 180 degrees from the exemplary dispenser 112' such that the substance delivery assembly 114' includes two opposing dispensers 112'. In other embodiments, three, four, or any number of dispensers 112' are provided.

[0047] The dispenser 112' includes a housing 340, a metering wheel 342, a dump wheel 344, an idler wheel 346, and a guide mechanism 348. The metering wheel 342, the dump wheel 344, the idler wheel 346, and the guide mechanism 348 are retained within the housing 340. More specifically, the housing 340 is a two-piece molded component having a cavity therein of a specific shape, size, and orientation for housing the other components of the dispenser 112' as shown.

[0048] 16 and 19, the weighing wheel 342 includes a plurality of spokes 350 and defines a plurality of slots 352 between adjacent spokes 350. Each slot 352 has a size and shape for receiving a single tablet 314 therein. The weighing wheel 342 is coupled to a shaft 354 that is rotated by a second motor (not shown). In some cases, the second motor may be the same as the first (indexing) motor. In such an embodiment, the same indexing motor rotates the magazine 324 and rotates the weighing wheel 342 (via the shaft 354) at the same or different angular velocities depending on the mechanical connection therebetween. In other embodiments, two different motors rotate the magazine 324 and the weighing wheel 342.

[0049] 16 and 20, dumping wheel 344 and idler wheel 346 are positioned adjacent to one another downstream of metering wheel 342. A flow path 360 is defined between metering wheel 342 and dumping and idler wheels 344, 346. Dumping wheel 344 is located opposite idler wheel 346 across flow path 360. Dumping wheel 344 has an outer surface 362 and is driven at a predetermined angular velocity by a third motor (not shown). As the name suggests, idler wheel 346 is not actively driven and has an outer surface 364. The third motor may be the same or a different motor as the first and / or second motors.

[0050] 21 , the guide mechanism 348 includes a lever 370, a rail 372, and a connector 374 that connects a first end 376 of the lever 370 with a first end 378 of the rail 372. A second end 380 of the lever 370 is coupled to a pivot shaft 384. The rail 372 extends from the first end 378 to a second end 382 that is coupled to the housing 340 upstream of the first end 378. The rail 372 is formed from a flexible material (e.g., a metal or a polymeric material) that can bend into a plurality of configurations based on the position of the first end 378 of the rail.

[0051] In the exemplary embodiment, the lever 370 rotates about a pivot shaft 384 to reposition the first end 378 of the rail via the connector 374. More specifically, the first end 378 of the rail is positioned using the lever 370 based on a desired ejection direction of the tablets 314 dispensed from the dispenser 112'. The first end 378 of the rail may be positioned in a first position (see Figures 16 and 21), a second position (see Figure 15), and any third position between the first and second positions.

[0052] In operation, the metering wheel 342 is rotated in a direction 390 (counterclockwise in the views shown in FIGS. 15, 16 and 19) driving the slot 352 through a number of angular positions. In a first angular position 392 where the entrance to the slot 352 faces towards the rotating cartridge 104', the slot 352 is aligned with the hole 332 in the end plate 312. Under gravity, the tablet 314 is ejected through the hole 332 into the slot 352 at the first angular position 392. As the metering wheel 342 is further rotated, the slot 352 holding the tablet 314 is rotated in a direction 390 away from the hole 332 such that the outer surface 356 of the spokes 350 covers or blocks the hole 332. The metering wheel 342 continues to rotate and the pattern continues. The holes 332 are exposed, the tablets 314 are ejected into the slots 352 at the first angular position 392, and the holes 332 are then blocked by the adjacent spokes 350. This pattern ensures predictable and accurate metering of the tablets 314 from the rotating cartridge 104'.

[0053] Concurrently with the rotation of the weigh wheel 342, the magazine 324 is rotated. The rotational speed of the magazine 324 correlates with the rotational speed of the weigh wheel 342 so that when the slot 352 reaches the first angular position 392 and aligns with the hole 332 in the end plate 312, the channel 328 of the magazine 324 also aligns with the hole 332 in the end plate 312 and the tablet 314 is ejected under gravity from the channel 328 through the hole 332 and into the slot 352 at the first angular position 392.

[0054] As the metering wheel 342 continues to rotate, the tablets 314 are retained in their respective slots 352 between adjacent spokes 350 and the interior wall of the housing 340. In a second angular position 394 where the entrance to the slots 352 is aligned with the flow channel 360, the tablets 314 are delivered from the metering wheel 342 to the flow channel 360 under the force of gravity. As the tablets 314 fall through the flow channel 360, they contact an outer surface 362 of the discharge wheel 344. The discharge wheel 344 is rotated at a predetermined angular velocity based on the desired discharge rate of the tablets 314 from the dispenser 112'. As the tablets 314 pass between the discharge wheel 344 and the idle wheel 346, the tablets 314 are urged by the outer surface 362 of the discharge wheel 344 towards the outlet of the flow channel 360 at the predetermined discharge rate.

[0055] As the tablet 314 continues to travel through the flow channel 360, the position of the rail 372 guides the tablet 314 at a discharge velocity (or a velocity within a threshold of the discharge velocity) at a predetermined angle or path out of the flow channel 360. When the first end 378 of the rail is in a first position, for example, the tablet 314 is dispensed from the dispenser 112' at an angle α relative to the longitudinal axis 306 or vertical. When the first end 378 of the rail is in a second position, the tablet 314 is dispensed vertically downward such that the angle α is about 0°. The angle α is selectively variable from about 0° to about 90° depending on the particular characteristics of the flow channel 360 and the position of the rail 378. Thus, the tablet 314 is dispensed or released from the dispenser 112' at a predetermined known orientation, velocity and direction for desired delivery at a target location (e.g., a farm field, a rice paddy, etc.).

[0056] With reference to FIG. 6, in some embodiments, the tablet 214 is cylindrical in shape with flat or planar faces. With reference to FIG. 22, in some embodiments, the tablet 314 is cylindrical or disc-shaped with convex faces. Other shapes of tablets 214 / 314 are also contemplated within the scope of the present disclosure. In some embodiments of the present disclosure, the rotating cartridge 104 / 104' is easily detached from the UAV 102 for easy replacement, exchange or refilling of the cartridge 104 / 104', and each cartridge 104 / 104' is filled or stocked with a desired number and arrangement of tablets. The cartridge 104 / 104' can have variable design characteristics to accommodate this number and arrangement of tablets in virtually unlimited configurations and dimensions. In some embodiments, for example, the cartridge 104 / 104' can accommodate 1,000 or more tablets therein.

[0057] It should be readily appreciated that the controllable, predetermined movement of the substance delivery assembly 114 / 114' facilitates control of the UAV 102 and error-free, predictable delivery of tablets 214 / 314 in a predetermined pattern at a target location. Specifically, the UAV 102 can be controlled and positioned such that the direction of exit from the dispenser 112 / 112' is in a known and desired orientation. Furthermore, the relative motion (e.g., speed, timing, position) of the components of the substance delivery assembly 114 / 114' can be adjusted to precisely control the timing and speed of the tablets delivered. In some embodiments, a single tablet is delivered to the dispenser 112 / 112' at a time, although multiple dispensers 112 / 112' can be implemented to simultaneously deliver multiple (same or different) tablets at the same location. Additionally or alternatively, the tablets delivered can be precisely controlled to ensure that successively delivered tablets are delivered to the same location or within a threshold distance of each other. Additionally, various components of the substance delivery assembly 114 / 114' can be selected, replaced, substituted or adjusted to further refine the airborne substance delivery system 100 for precise application, such as the placement of the channels 212 / 328, the selection of tablets 214 / 314, the parameters of the motor 250 (shown in FIGS. 10 and 11) and spring 254 (also shown in FIGS. 10 and 11), the sizes of the various components, etc. Thus, the airborne substance delivery system 100 according to the present disclosure is highly customizable depending on its desired application.

[0058] In exemplary embodiments, the components of the substance delivery assembly 114 / 114' are constructed of lightweight materials and may further be constructed of recyclable and / or reusable materials. In some embodiments, the rotating cartridge 104 / 104', end plates 242 / 312 and / or container 296 (shown in FIGS. 2, 4 and 5) are formed of polymeric materials.

[0059] The rotating cartridge 104 / 104' and / or the container 296 may also have one or more identification features. For example, one or more portions of the rotating cartridge 104 / 104' and / or the container 296 may include a unique identifier tag 396 (see FIGS. 2 and 15) that facilitates identification of the type and / or amount of tablets 214 / 314 contained in the rotating cartridge 104 / 104' and / or the type and / or amount of flowable material contained in the container 296. The identifier tag 396 may include, for example, a radio frequency identifier (RFID) tag. The identifier tag 396 is configured to wirelessly communicate with a tag reader (not shown) configured to read identification information from the identifier tag 396. The tag reader may be incorporated into the UAV body 106, the controller 124, or any other component of the airborne substance delivery system 100. Additionally or alternatively, the tag reader may be part of a separate device used to read the identifier tag (e.g., a handheld tag reader (not shown)). The tag reader may include, for example, an RFID reader.

[0060] The tablets 214 / 314 may contain any desired chemical combination. In some embodiments, the tablets 214 / 314 are hydrolytic such that the tablets 214 / 314 dissolve or disintegrate when delivered to a moist environment for application.

[0061] The chemical and agent delivery systems of the present disclosure are suitable for use with a variety of chemical products, including, for example, but not limited to, agricultural chemicals such as fertilizers, insecticides, fungicides, nematicides, bactericides, acaricides, herbicides, herbicide safeners, growth regulators such as insect molting inhibitors and rooting stimulants, chemo-sterilants, semiochemicals, repellents, attractants, pheromones, feeding stimulants, other bioactive compounds to form multi-component pesticides or entomopathogenic bacteria, viruses or fungi.

[0062] Referring to Figure 23, there is illustrated a flow chart of a method 500 of using or operating the airborne substance delivery system 100 shown in Figure 1. In some embodiments, the method 500, including one or more steps, may be applied to the substance delivery assembly 114 shown in Figures 2-21.

[0063] The method 500 includes providing 502 a substance delivery assembly including a rotating cartridge defining a plurality of channels extending parallel to a longitudinal axis of the rotating cartridge, each channel holding a respective set of tablets therein, an index motor configured to index the channels, and a dispenser configured to deliver a single tablet at a time from the rotating cartridge to a target location. The method 500 also includes removably mounting 504 the substance delivery assembly to an unmanned aerial vehicle (UAV) and delivering 506 the tablets from the UAV to a target location using the substance delivery assembly.

[0064] In some embodiments, the method 500 includes additional, fewer, or alternative steps. For example, in some embodiments, the dispensing step 506 includes dispensing a single tablet at a time from the dispenser. In some embodiments, the material delivery assembly further includes a second dispenser, and the dispensing step 506 includes dispensing a single tablet at a time from each of the dispenser and the second dispenser. In some embodiments, the dispensing step 506 includes operating the UAV such that the UAV flies over the field, and dispensing the tablet from the UAV while the UAV is flying over the field, such that the tablet is delivered to the field.

[0065] Although specific features of various embodiments of the disclosure may be shown in some drawings and not in others, this is for convenience only, and in accordance with the principles of the disclosure, any feature of a drawing may be referenced and / or claimed in combination with any feature of any other drawing.

[0066] This specification uses examples to describe the disclosure, including the best mode, and to enable any person skilled in the art to practice the disclosure, including making and using any devices or systems, and performing any incorporated methods. The patentable scope of the disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are deemed to be within the scope of the claims if they have structural elements that do not differ from the wording of the claims, or if they have equivalent structural elements that have insignificant differences from the wording of the claims.

Claims

1. 1. An airborne substance delivery system comprising: Unmanned aerial vehicles (UAVs) and A substance delivery assembly on board the UAV, comprising: a rotating cartridge defining a plurality of channels extending parallel to a longitudinal axis of said rotating cartridge, each channel holding a respective set of tablets therein; an indexing motor configured to index the channel; and A dispenser configured to deliver a single tablet at a time from said rotating cartridge to a target location. a substance delivery assembly including:

13. An airborne substance delivery system comprising:

2. The system of claim 1 , wherein the rotating cartridge includes an outer shell, the outer shell surrounding the plurality of channels.

3. 2. The system of claim 1, wherein the rotating cartridge includes a magazine including a sidewall and a plurality of radially extending walls extending from the sidewall, the plurality of channels being defined between respective adjacent ones of the radially extending walls.

4. The system of claim 3 , wherein the rotating cartridge further includes an end wall having at least one opening therethrough, the opening exposing a channel of the plurality of channels to the dispenser.

5. 5. The system of claim 4, wherein the indexing motor indexes the magazine to align the channel with the opening in the end wall to deliver tablets from the channel to the dispenser.

6. The system of claim 1 , wherein the dispenser includes a weighing wheel configured to receive the single tablet from the rotating cartridge.

7. 7. The system of claim 6, wherein the weighing wheel includes a plurality of spokes defining a respective plurality of slots therebetween, each slot configured to receive a respective tablet therein.

8. 8. The system of claim 7, wherein the rotating cartridge further includes an end wall having at least one opening therethrough exposing a channel of the plurality of channels to the dispenser, and each slot is configured to receive the respective tablet therein when the slot is in a first angular position in which the slot is aligned with the opening in the end wall.

9. 9. The system of claim 8, wherein when the slot is in a second angular position, the respective tablet is ejected from the slot under gravity.

10. 10. The system of claim 1, wherein the dispenser includes an ejection wheel configured to rotate at a predetermined angular velocity to expel the single tablet from the dispenser at a predetermined linear velocity.

11. 10. The system of claim 1, wherein the dispenser includes a guide mechanism selectively positioned between a first position and a second position to control the angle at which the single tablet is delivered from the dispenser.

12. The system of claim 1 , wherein the substance delivery assembly further comprises a second dispenser.

13. The system of claim 1 , wherein the rotating cartridge further includes an end wall having at least one opening therethrough, the opening exposing a channel of the plurality of channels to the dispenser.

14. The system of claim 1 , wherein the rotating cartridge further includes a plurality of ejection mechanisms, each ejection mechanism being carried in a corresponding one of the plurality of channels.

15. 2. The system of claim 1, wherein the dispenser includes a motor, a rotating arm, a spring, and a hammer, the rotating arm being rotated by the motor and the hammer being driven by the rotating arm from a first position to a second position, the spring returning the hammer from the second position to the first position under the force of the spring to deliver the single tablet from the hammer at a predetermined rate.

16. The system of claim 1 , wherein the substance delivery assembly further comprises a container for holding a fluent product therein.

17. providing a substance delivery assembly including a rotating cartridge defining a plurality of channels extending parallel to a longitudinal axis of the rotating cartridge, each channel holding a respective set of tablets therein, an indexing motor configured to index the channels, and a dispenser; removably mounting the substance delivery assembly to an unmanned aerial vehicle (UAV); delivering the tablet from the UAV to a target location using the substance delivery assembly; The method includes:

18. 20. The method of claim 17, wherein dispensing the tablets from the UAV comprises dispensing a single tablet from the dispenser at a time.

19. 20. The method of claim 17, wherein the substance delivery assembly further includes a second dispenser, and the step of delivering the tablet from the UAV includes the step of delivering a single tablet at a time from each of the dispenser and the second dispenser.

20. The step of sending the tablet from the UAV includes: operating the UAV such that the UAV flies over a field; Dispatch the tablet from the UAV while the UAV is flying over the field such that the tablet is delivered to the field.

20. The method of claim 17, comprising:

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