Multi-operation land drone

Abstract

The present invention provides a multi-operation ground drone comprising a vehicle body, one or more batteries, one or more sensors, and a removable dashboard. The one or more batteries are disposed under the vehicle body. The one or more sensors are disposed on the vehicle body.

Description

[Technical field]

[0001] The present disclosure relates generally to multi-operation ground drones. [Background technology]

[0002] (Related Applications) This application claims priority to U.S. Provisional Patent Application No. 63 / 136,197, filed January 11, 2021, U.S. Provisional Patent Application No. 63 / 164,096, filed March 22, 2021, and U.S. Provisional Patent Application No. 63 / 210,592, filed June 15, 2021, the entire contents of each of which are incorporated by reference into this disclosure.

[0003] Unless otherwise stated herein, the materials described herein are not prior art to the claims of this application and are not admitted to be prior art by inclusion in this section.

[0004] Farming and agricultural ventures are often associated with labour-intensive work and long working hours. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] US Patent Application Publication No. 2018 / 0126986 Summary of the Invention [Problem to be solved by the invention]

[0006] In some situations, long hours may result from the large amount of land the business operates on. Often, a lot of time is spent on tractors and other farm vehicles as part of maintaining the land and the crops that reside on it.

[0007] The subject matter claimed in this disclosure is not limited to embodiments that solve any disadvantages, nor does it operate only in the environments described above. Rather, this background is only provided to describe one example technology area where some embodiments described in this disclosure may be practiced. [Means for solving the problem]

[0008] In one embodiment, the multi-operation ground drone includes a vehicle body, one or more batteries, one or more sensors, and a removable dashboard. The one or more batteries are disposed under the vehicle body. The one or more sensors are disposed on the vehicle body.

[0009] These and other aspects, features, and advantages will become more fully apparent from the following brief description of the drawings, the drawings, the detailed description, and the appended claims. Example embodiments are described with additional specificity and detail through the use of the accompanying drawings. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram of an exemplary system including a multi-operation ground drone. [Diagram 2] FIG. 1 is a block diagram of an exemplary powertrain control system. [Diagram 3] FIG. 1 is a block diagram of an exemplary computing system. [Figure 4] 1 is a flowchart of an example method for selecting an operational mode for a multi-operation terrestrial drone. [Diagram 5] 1 is a flowchart of an example method for coordinating a powertrain of a multi-operation terrestrial drone, all in accordance with one or more embodiments of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Tractors and other large machines have traditionally been used to cultivate large tracts of land. In some situations, tractors are used on small and medium-sized farms as they can cultivate land faster and with less effort, regardless of the size of the land. Operating tractors and other machines in these conditions often requires a significant investment of time. Furthermore, the narrow harvest window can lead to situations where tractors are operated in less favorable conditions, such as operating in extreme winds and temperatures.

[0012] The demand for improved agricultural yields remains ever-pressing. The world's population continues to grow, while the amount of cultivated land has remained essentially stable and even decreased in some regions. This makes it increasingly important to improve the use of cultivated land to ensure that the demand for food and other resources can be met.

[0013] Operating large machinery equipped with tractors to develop and cultivate land is often time consuming, and even if the soil is suitable for cultivation or other agricultural uses, it may be difficult, impractical or unsafe to maintain the land with traditional tractors and machinery.

[0014] In some circumstances, heavy machinery used in agriculture, construction, mining, and other applications often generates large amounts of pollution that may be harmful to the environment. Furthermore, heavy pollution from heavy machinery may also be harmful to plants and crops that are grown using the heavy machinery.

[0015] In some situations, exemplary embodiments of the multi-operation terrestrial drone can facilitate remote operation in addition to manual operation. For example, the multi-operation terrestrial drone can include line-of-sight remote control operation, remote operation using a video camera, and autonomous operation. Additionally, various remote operation modes can enable use of the multi-operation terrestrial drone in situations that may otherwise be dangerous or undesirable for an operator. For example, remote operation modes can be used in extreme temperatures or high winds that may otherwise pose a danger to the operator.

[0016] Some embodiments of the multi-operation ground drone can implement power systems to help reduce the amount of pollution generated by large machinery typically used in agricultural and other environments. For example, the multi-operation ground drone can employ electric motors for propulsion, control of implements and other attachments, and sensor power to the multi-operation ground drone.

[0017] Some embodiments of the multi-operation ground drone may employ one or more batteries as part of the power system. The batteries may be located generally near the ground of the multi-operation ground drone, which may lower the center of gravity. In some embodiments, the lower center of gravity may make the multi-operation ground drone more stable on rough and high-gradient terrain. When used in combination with a remote operation mode, the multi-operation ground drone may be able to navigate terrain that may be inaccessible to traditional heavy machinery and similar equipment. The increased maneuverability of the multi-operation ground drone may contribute to the expansion of previously unavailable arable land, which may result in increased production, such as crop yields.

[0018] Additionally, tractors that lack traction control may spin their wheels or otherwise struggle with traction under certain conditions. In such conditions, wheel spinning and / or sliding can cause damage to the soil and terrain, including soil compaction, erosion, and damage to vegetation. Additionally, tractors may not be able to adjust the amount of power delivered to the axles and / or wheels, allowing the tractor to be more suitable in different operating environments.

[0019] In some embodiments of the present disclosure, a tractor (e.g., a multi-operation land drone) may include a variable powertrain that may be made adjustable without operator input. For example, the powertrain control system may acquire sensor data that may provide information about the environment in which the tractor is operating. In these or other embodiments, the powertrain control system may adjust the tractor's powertrain based on the acquired sensor data. This adjustment may improve the tractor's performance in the environment. Additionally, the powertrain control system may use iterations of the sensor data to determine different powertrain settings for the tractor's use in various environments. Thus, the powertrain control system may adjust the powertrain settings to a particular condition before entering a particular environment corresponding to the particular condition.

[0020] In some embodiments of the present disclosure, the powertrain control system may include traction sensing, traction control, and automatic transition between powertrain options. In some embodiments, a tractor that automatically switches between powertrain modes may reduce the amount of soil and terrain damage by limiting the amount of spin and / or skid. Additionally, the automatic transition may provide power to the axles and / or wheels in situations that may improve the traction and / or stability of the tractor. In some embodiments, a variable powertrain tractor may also reduce energy consumption by limiting the amount of power used by the powertrain when environmental conditions do not warrant additional power.

[0021] In this disclosure, the term "tractor" may refer to an agricultural tractor and / or other powered equipment or vehicle that may be used in an agricultural setting. Alternatively or additionally, the term "tractor" may include a powered vehicle that may be configured to support and operate an implement that may be used in an agricultural setting or any other applicable setting. Furthermore, in some embodiments, the tractor may be a multi-operation land drone as described in this disclosure.

[0022] Additionally, while primarily discussed in an agricultural setting, some embodiments of the present disclosure may be scaled for different environments, such as personal home use and industrial large scale use, as well as be used in other settings, such as mining, construction, and / or other locales where large machinery may be beneficial. Additionally, examples of the present disclosure may refer to tractors with two axles and / or four wheels. However, the number of axles and / or wheels may be greater while still implementing embodiments of the present disclosure.

[0023] Further, although generally described in the singular, it will be understood that a multi-operation ground drone may be paired with other multi-operation ground drones, such as in a fleet, and the multi-operation ground drones may be configured to communicate with each other. Additionally, the principles of the present disclosure are not limited to multi-operation ground drones. In light of the present disclosure, it will be understood that the multi-operation ground drones disclosed herein may be used in conjunction with other types of automatable ground vehicles.

[0024] 1 is a block diagram of an example system 100 including a multi-operation land drone 102 ("land drone 102") according to at least one embodiment described in this disclosure. The system 100 may include a land drone 102, one or more electric motors 110, one or more batteries 120, sensors 130, a removable dashboard 140, and an implement 150. The battery 120 may include a battery controller 122. The removable dashboard 140 may include a joystick 142 as well as be configured to receive an operator input 144 directly or via the joystick 142.

[0025] In some embodiments, the primary motor may be included in one or more motors 110 (hereafter referred to as element 110) and may be used to propel the ground drone 102. In some embodiments, each wheel of the ground drone 102 may include one or more motors 110 associated with the vehicle. For example, if the ground drone 102 includes four wheels, a motor 110 may be attached and configured to actuate each of the four wheels. In some embodiments, the one or more motors 110 associated with the wheels may be configured to operate at different capacities, including varying the amount of power provided to each wheel. For example, if one or more wheels are slipping, the amount of power provided by the one or more motors 110 associated with the slipping wheel or wheels may be adjusted, and the amount of power provided by the one or more motors 110 associated with the non-slipping wheel or wheels may be adjusted to reduce the amount of wheel slip. For example, in some embodiments, the power may be adjusted as described below with respect to FIG. 2.

[0026] In some embodiments, one or more implements 150 are attached to and / or used with the terrestrial drone 102 and may include an associated motor 110. For example, a grass cutter attached to the terrestrial drone 102 may include a motor 110 configured to power a grass cutter blade. Alternatively or additionally, the implements 150 of the terrestrial drone 102 may include multiple associated motors 110. For example, a sprayer attached to the terrestrial drone 102 may include a first motor (110) for adjusting the direction of a nozzle and a second motor (110) for powering a pump used for spraying.

[0027] In some embodiments, the primary motor 110 can power one or more implements connected to the ground drone 102. Alternatively or additionally, the primary motor 110 may be configured to power other systems included in the ground drone 102. For example, the primary motor 110 may be configured to power a steering system, a braking system, sensors 130 mounted on the ground drone 102, auxiliary devices and systems, etc.

[0028] In some embodiments, the primary motor 110 can receive electrical energy from one or more batteries 120. For example, the one or more batteries 120 can be arranged in series and / or parallel to generate a voltage and current that can be used by the primary motor 110. Alternatively or additionally, the ground drone 102 can include a single high-capacity battery 120. For example, the ground drone 102 can include an electric vehicle battery (EVB) 120 that can be designed for high-capacity applications, such as powering the primary motor 110, one or more motors 110 associated with one or more wheels, and / or one or more motors 110 associated with one or more implements 150.

[0029] In some embodiments, the one or more batteries 120 may be configured to power all of the one or more electric motors 110. For example, the one or more batteries 120 may jointly power a primary electric motor 110, one or more electric motors 110 associated with one or more wheels, and one or more electric motors 110 associated with one or more implements 150. Alternatively or additionally, the one or more batteries 120 may be associated with separate electric motors 110. For example, a first battery of the one or more batteries 120 may be associated with a first electric motor 110 associated with one or more wheels; and a second battery of the one or more batteries 120 may be associated with a second electric motor 110 associated with one or more wheels, etc. Alternatively or additionally, the one or more batteries 120 may be arranged and / or combined such that two or more of the one or more batteries 120 may be configured to power one electric motor 110. For example, a first set of two or more batteries 120 may be combined to power a first motor 110 associated with one or more implements 150. A second set of two or more batteries 120 may be combined to power a second motor 110 associated with one or more wheels.

[0030] In some embodiments, the one or more batteries 120 may comprise a rechargeable material that may comprise a lithium ion battery, a lithium polymer battery, a sodium nickel chloride battery, or other rechargeable battery type suitable for an electric vehicle. Alternatively or additionally, the primary electric motor 110 may receive electrical energy from a photovoltaic system configured to convert solar energy into electrical energy, or a combination of the two sources.

[0031] In some embodiments, the one or more batteries 120 may include one or more battery controllers 122. For example, the number of battery controllers 122 may be equal to the number of batteries 120, such that each battery controller 122 is associated with a battery 120. Alternatively or additionally, one battery controller 122 may be associated with one or more batteries 120. In some embodiments, the one or more battery controllers 122 may be configured to monitor and / or control the charging and discharging of the one or more batteries 120. For example, the one or more battery controllers 122 may limit the charging and / or discharging rate of the one or more batteries 120, thereby improving the life and / or health of the one or more batteries 120. In some embodiments, the one or more battery controllers 122 may monitor the status of the one or more batteries 120. For example, the one or more battery controllers 122 may monitor the current charge capacity, the maximum charge capacity, the charging temperature, the operating temperature, and / or other battery status indicators.

[0032] In some embodiments, one or more battery controllers 122 may be configured to disable corresponding batteries 120. For example, if the operating temperature of one or more batteries 120 exceeds a threshold, one or more battery controllers 122 may disable one or more batteries 120 to reduce risk of damage to one or more batteries 120 and / or to nearby people, including an operator. In some embodiments, the operations of battery controller 122 may be performed by a computing system, such as computing system 302 of FIG. 3.

[0033] In some embodiments, the one or more batteries 120 can be charged by connecting to one or more of an electrical outlet, a photovoltaic system, regenerative braking, and / or other mechanisms. In these and other embodiments, the one or more batteries 120 can receive electrical energy from one source or from any combination of sources. In some embodiments, the one or more batteries 120 may be configured to quickly recharge. For example, when connected to an electrical outlet, the one or more batteries 120 can charge approximately 80 percent of their full capacity in about 30 minutes. In some embodiments, the one or more batteries 120 can be removable and / or replaceable if the one or more batteries 120 become damaged or defective.

[0034] In some embodiments, the one or more batteries 120 may contribute to the stability of the terrestrial drone 102. For example, the one or more batteries 120 may be mounted on the bottom of the chassis of the terrestrial drone 102. If the one or more batteries 120 are mounted on the bottom of the terrestrial drone 102, the weight of the one or more batteries 120 may contribute to a lower center of gravity of the terrestrial drone 102. In some embodiments, the terrestrial drone 102 may include a small ground clearance, which may contribute to a low center of gravity. In some embodiments, the terrestrial drone 102 may include a wide track and / or a long wheelbase, which may contribute to stability for the terrestrial drone 102. In some embodiments, the terrestrial drone 102 may support two or more wheels per axle, which may contribute to its stability. In these and other embodiments, various combinations of battery placement, ground clearance, track width, wheelbase length, and number of wheels may be employed to change the center of gravity and / or stability of the terrestrial drone 102. This may allow the terrestrial drone 102 to traverse terrain that may have been previously inaccessible.

[0035] In some embodiments, the terrestrial drone 102 may be equipped with one or more sensors 130 configured to provide details about various aspects of the terrestrial drone 102's system and the environment in which the terrestrial drone 102 is located, and may aid in the navigation of the terrestrial drone 102. For example, the terrestrial drone 102 may incorporate such sensors 130 including, but not limited to, digital cameras, lidar, radar, accelerometers, gyroscopes, GPS, and / or other sensors and systems. Further examples of the sensors 130 may include the sensors described below with respect to FIG.

[0036] In some embodiments, the terrestrial drone 102 may include multiple operation modes. The operation modes may include a manual operation mode and a remote operation mode. In some embodiments, the manual operation mode may be configured to receive all control and input from the operator 144 currently operating the terrestrial drone 102.

[0037] In some embodiments, the terrestrial drone 102 may detect, such as by one or more sensors 130 included therein, that the current operating environment may be dangerous to the operator. If a dangerous operating environment is detected, the terrestrial drone 102 may provide an indication to the operator, such as by a removable dashboard 140, described below, that the operating environment is dangerous for operation. Alternatively or additionally, the terrestrial drone 102 may cease operation if the operator is detected on the terrestrial drone 102 in a dangerous environment. The dangerous environment may include steep slopes prone to instability, low hanging tree branches or other obstacles, extreme heat or cold, and / or other similar conditions.

[0038] In some embodiments, the teleoperation modes may allow an operator to remove themselves from the vicinity of the ground drone 102, such as during operation thereof, while in physical contact with the ground drone 102. In some embodiments, the teleoperation modes may include a line-of-sight teleoperation mode, a teleoperation control mode, and an autonomous navigation mode.

[0039] In some embodiments, the line of sight remote control mode may include control of the ground drone 102 while still within the operator's field of view. For example, in the line of sight remote control mode, the operator may determine the movement of the ground drone 102 based on the operator's perception of the surrounding environment of the ground drone 102. In the line of sight remote control mode, the ground drone 102 may operate similarly to an RC car (radio controlled car) where the operator uses a control device.

[0040] In some embodiments, the teleoperation control mode includes remote control by an operator, but may also include operation without line of sight of the drone 102. For example, the terrestrial drone 102 may include a sensor 130, such as a digital camera, that can deliver a video feed to a control device used by the operator. In such a situation, the operator may operate the terrestrial drone 102 while viewing the perceived surroundings as seen through the video feed. In the teleoperation control mode, the operator may be enabled to operate the terrestrial drone 102 at a greater range than in the line of sight teleoperation mode, since the terrestrial drone 102 may operate without line of sight.

[0041] In some embodiments, the autonomous navigation mode can include hands-off operation of a line-of-sight remote control mode. For example, in the autonomous navigation mode, the ground drone 102 can be enabled to move and operate without input from the operator 144.

[0042] In some embodiments, the terrestrial drone 102 may seamlessly switch between teleoperation modes in addition to switching from a manual operation mode to any teleoperation mode. In these and other embodiments, the operation mode may be determined by the operator. Alternatively or additionally, the terrestrial drone 102 may be configured to automatically switch between modes. For example, the terrestrial drone 102 may switch from a line-of-sight teleoperation mode to a teleoperation control mode if the terrestrial drone 102 determines that it is too far away from the operator.

[0043] In some embodiments, the remote operation mode of the terrestrial drone 102 may be controlled by the detachable dashboard 140. In some embodiments, the operation of the detachable dashboard 140 may be performed by a computing system, such as the computing system 302 of FIG. 3. In some embodiments, the detachable dashboard 140 may be an electronic device. The detachable dashboard 140 may be a custom electronic device configured to operate with the terrestrial drone 102. Alternatively or additionally, the detachable dashboard 140 may include a mobile device, such as a mobile phone or tablet, that may be configured to interface with the terrestrial drone 102. In some embodiments, the detachable dashboard 140 may include multiple electronic devices, each configured to interact with each other and the terrestrial drone 102, any of which may be configured to monitor and control the terrestrial drone 102. Alternatively or additionally, one electronic device may be designated as a primary device of the detachable dashboard 140, and additional devices may be configured to communicate with the primary device to monitor and control the terrestrial drone 102.

[0044] The detachable dashboard 140 may be configured to dock to the terrestrial drone 102. In a docked configuration, the detachable dashboard 140 may be configured to provide details to an operator related to various statuses of the terrestrial drone 102. Alternatively or additionally, the detachable dashboard 140 may be configured to provide various statuses to an operator in an undocked and / or remote mode.

[0045] In some embodiments, the removable dashboard 140 may include a GUI for displaying various status and operational modes of the ground drone 102. For example, the removable dashboard 140 may provide an indication of various status and operational modes of the ground drone 102, including, but not limited to, current speed, current engine RPM, power take-off operation, power take-off RPM, battery power remaining (as a percentage of total battery power), estimated remaining operating time, performance mode, steering mode, crop view mode, hydraulic mode, wheel drive mode, and / or differential mode.

[0046] In some embodiments, the detachable dashboard 140 may be configured to receive input from the operator 144. The detachable dashboard 140 may be configured to receive input in a docked or undocked configuration. In some embodiments, the input from the operator 144 may be coupled to set limits on the operation and performance of the ground drone 102. In some embodiments, the detachable dashboard 140 may be configured to receive operational constraints. For example, the input from the operator 144 may set a maximum braking amount, a maximum acceleration amount, a maximum operating RPM, a maximum speed, a control sensitivity variable (used in conjunction with remote operation, described below), a steering sensitivity variable, and / or a float sensitivity variable. In some embodiments, in instances where no input from the operator 144 is provided, default variables may be used until input from the operator 144 is submitted to change the default values.

[0047] In some embodiments, the detachable dashboard 140 may be configured to communicate with other electronic devices. In examples where the detachable dashboard 140 communicates with other electronic devices, the communication may occur via cellular communication, electromagnetic radiation comprising radio waves, Wi-Fi, WiMAX, Bluetooth, and / or similar wireless communication channels. In some embodiments, the other connected electronic devices may be configured to send instructions and / or controls to the detachable dashboard 140 to control the ground drone 102. Alternatively or additionally, the other connected electronic devices may be restricted from communicating with the detachable dashboard 140 unless they are recognized devices and / or have been given permission to access the ground drone 102 via the detachable dashboard 140.

[0048] In some embodiments, the detachable dashboard 140 may be configured to receive input from the operator 144 to transition the ground drone 102 from manual operation to a teleoperation mode. If the operator selects the line of sight teleoperation mode from a status page of the GUI, the detachable dashboard 140 may transition from a GUI display to a controller display. In that case, the detachable dashboard 140 can become a controller for the ground drone 102 in the line of sight teleoperation mode. Alternatively or additionally, the operator can select the line of sight remote control mode while in the teleoperation control mode or the autonomous navigation mode. Thus, the detachable dashboard 140 can transition from either the teleoperation control display or the autonomous navigation display to the line of sight remote control display.

[0049] In some embodiments, in the line of sight remote control mode, the removable dashboard 140 can provide one or more digital joysticks 142 configured to receive input from an operator 144 to control the ground drone 102. The one or more digital joysticks 142 can be modeled after a physical joystick that may be disposed on and used with the ground drone 102. In some embodiments, the removable dashboard 140 can include a digital movement control joystick 142 having at least four directions. Pressing the digital movement control joystick 142 moves the ground drone 102 in the direction that the digital movement control joystick 142 is pressed. For example, when the operator presses the digital movement control joystick 142 displayed on the removable dashboard 140 forward, the ground drone 102 can move in the forward direction until the digital movement control joystick 142 is no longer pressed.

[0050] In some embodiments, the removable dashboard 140 in line of sight remote control mode can include a second joystick 142 configured to manipulate an implement 150 attached to the ground drone 102. Control of the second joystick 142 may be similar to the locomotion control joystick 142. Alternatively or additionally, the second joystick 142 may include movements such as up and / or down as appropriate for manipulating and controlling the attached implement 150.

[0051] In some embodiments, the removable dashboard 140 in line of sight remote control mode can continue to display various statuses of the ground drone 102 in addition to one or more digital joysticks 142.

[0052] In some embodiments, the removable dashboard 140 may be configured to detect or calculate a drone distance value that comprises an approximate distance between the removable dashboard 140 and the ground drone 102. In some embodiments, the drone distance value may be used to determine when the ground drone 102 is too far from the operator to continue in line of sight remote control mode. For example, the ground drone 102 may be configured to cease operation when the drone distance value becomes greater than a threshold value.

[0053] In some embodiments, the threshold may be a default threshold comprising a predetermined safe operating distance. For example, the default threshold may comprise a maximum of 100 meters between the land drone 102 and the removable dashboard 140. In some embodiments, the default threshold may vary with time of day and / or amount of available light. For example, in full daylight, the threshold may be approximately 100 meters. In a low light setting, the threshold may be reduced to approximately 15 meters, etc. In some embodiments, the threshold may be a continuum between a full light setting and a low light setting. In some embodiments, the threshold may vary by operator. For example, an operator may have a profile (e.g., described below) that can assign thresholds to the operator's account. For example, a new operator or an operator with reduced vision may have a smaller threshold than an experienced user or a user with 10 / 20 vision.

[0054] In some embodiments, the ground drone 102 may cease operation when the drone-to-drone distance value exceeds a threshold. Alternatively or additionally, the ground drone 102 may transition from the line-of-sight remote control mode to another autonomous mode, such as a teleoperation control mode or an autonomous navigation mode.

[0055] When the operator selects the teleoperation control mode from a status page of the GUI or when the ground drone 102 transitions to the teleoperation control mode, the detachable dashboard 140 transitions from a GUI display to a control device display, such that the detachable dashboard becomes the control device for the ground drone 102 in the teleoperation control mode. Alternatively or additionally, the operator can select the teleoperation control mode while in the line of sight remote control mode or the autonomous navigation mode, which can cause the detachable dashboard to transition from either the line of sight remote control display or the autonomous navigation display to the teleoperation control display.

[0056] In some embodiments, the teleoperation control mode may include one or more digital joysticks 142 similar to the digital joystick 142 described in connection with the line of sight teleoperation mode. Alternatively or additionally, the one or more digital joysticks 142 may be operated to control the terrestrial drone 102 similar to the movement and control described in connection with the line of sight teleoperation mode.

[0057] In some embodiments, the detachable dashboard 140 in the teleoperation control mode can display one or more video feeds. The one or more video feeds may be provided from one or more sensors 130, such as one or more digital cameras mounted on the land drone 102. In some embodiments, the video feeds can provide a visual display of the surroundings of the land drone 102. Alternatively or additionally, a digital camera mounted on the land drone 102 may be configured to be controlled via the detachable dashboard in the teleoperation control mode. For example, an operator can pan, tilt, and / or zoom the digital camera using an interface on a teleoperation control display on the detachable dashboard 140.

[0058] In some embodiments, the detachable dashboard 140 in the teleoperation control mode may continue to display various statuses of the ground drone 102 in addition to the one or more digital joysticks 142. Alternatively or additionally, the various statuses may be displayed in a reduced and / or compact size to correspond to the one or more video feeds displayed as part of the teleoperation control mode.

[0059] When the operator selects the autonomous navigation mode from a status page of the GUI or when the ground drone 102 transitions (transitions) to the autonomous navigation mode, the detachable dashboard 140 may transition from the GUI display to an autonomous navigation display, where the display may provide various status of the ground drone 102. Alternatively or additionally, the operator may select the autonomous navigation mode while in the line of sight remote control mode or the teleoperation control mode. Thus, the detachable dashboard 140 may transition to the autonomous navigation display from either the line of sight remote control display or the teleoperation control display.

[0060] In some embodiments, the detachable dashboard 140 in the autonomous navigation mode can provide various status of the ground drone 102, as described above. Alternatively or additionally, the detachable dashboard 140 in the autonomous navigation mode may display one or more video feeds similar to the video feeds in the teleoperation control mode. When one or more video feeds are displayed in connection with the autonomous navigation mode, a digital camera mounted on the ground drone 102 may be configured to be controlled via the detachable dashboard 140.

[0061] In some embodiments, the displays of the removable dashboard 140 in the autonomous navigation mode may be changed and / or arranged according to input from the operator 144. For example, the operator may want to see one video feed, the current speed, and the remaining battery life of the ground drone 102, so the operator may arrange the three displays in any configuration. Alternatively or additionally, the operator may add and / or remove additional displays as desired.

[0062] In some embodiments, the detachable dashboard 140 may require a user to sign in to the detachable dashboard 140 before the user can become the operator of the terrestrial drone 102. In these and other embodiments, some or all of the functionality provided by the detachable dashboard 140 may be restricted to authorized profiles and / or accounts. For example, a new operator's account may be restricted to manual operation mode, while none of the remote operation modes are restricted. In the previous example, the new operator may receive additional training. Thereafter, that profile may be granted additional permissions, such as the option to operate the terrestrial drone 102 in line-of-sight remote operation mode. In general, various operation modes may be enabled or restricted in individual profiles.

[0063] In some embodiments, the various settings and display arrangements of the removable dashboard 140 may be saved and / or stored with the active profile in which the changes were made. In these and other embodiments, the new profile may include a default layout that is subject to changes by the new user, which may include displayed status, determination and position of video feed (if applicable), default operational constraints, etc.

[0064] In some circumstances, some embodiments of the present disclosure may enable the ground drone 102 to operate in similar terrain and conditions as a conventional machine. For example, a manual operation mode may include an operator providing direct input to the ground drone 102 while aboard the ground drone 102.

[0065] In some circumstances, the exemplary embodiments of the present disclosure may enable the terrestrial drone 102 to operate in conditions and terrain that may not have been previously operable. For example, the slope of a hill may be inclined an amount that makes it unsafe or impossible to operate the machine thereon. In such a case, the operator of the terrestrial drone 102 may dismount (step off the terrestrial drone) and proceed to continue operating the terrestrial drone 102 over the steep terrain by removing the detachable dashboard 140 and switching to line of sight remote control mode. As discussed above, the terrestrial drone 102 may be enabled to operate in steep terrain due to the low center of gravity also discussed above. Use of the detachable dashboard 140 in line of sight remote control mode may also enable the operator to remain safe while continuing to operate.

[0066] In another example, extreme temperatures or high winds may make it difficult for conventional machinery and / or operators to complete certain tasks. In such cases, the operator of the ground drone 102 may take the detachable dashboard 140 to a safer location and enable a teleoperation control mode. As discussed, the teleoperation control mode may allow the operator to be remote from the ground drone 102 while performing tasks and / or operations as if present with the ground drone 102. In such situations, the operator may still maintain direct control over the ground drone 102 while being aware of the ground drone 102's surroundings while being in a safer location.

[0067] In the aforementioned situations, the operator of the ground drone 102 can also choose to enable an autonomous navigation mode, which may be enabled in those and other situations. During the autonomous navigation mode, the operator may be permitted to remain separate from the ground drone 102 while operations are being performed in potentially hazardous scenarios.

[0068] 2 is a block diagram of an example powertrain control system 200 that may be associated with a tractor or other similar vehicle according to at least one embodiment described in this disclosure. The powertrain control system 200 may include a powertrain control module 205, one or more sensors 210, a powertrain controller 230, a load balancing (load distribution) system 235, and a ground drone 240. The ground drone 102 of FIG. 1 is an example of a ground drone 240. Additionally, although FIG. 2 is described in the context of a ground drone, the concepts may also be applied to a tractor or other applicable vehicle or portion of a machine.

[0069] Ground drone 240 may include a powertrain 245. Powertrain 245 may include any suitable system, device, or component that may operate as a powertrain for ground drone 240 by converting power into movement by ground drone 240. For example, powertrain 245 may include one or more of an engine, a transmission, an electric motor, a drive shaft, a differential, an axle, etc.

[0070] In some embodiments, the one or more sensors 210 of the powertrain control system 100 may include an environmental sensor 215. The environmental sensor 215 may be configured to detect an operating environment of the ground drone 240. For example, the environmental sensor 215 may be configured to detect a current terrain condition comprising a gradient amount, such as from a hill or a depression, a driving surface condition comprising an accumulated precipitation amount, and soil conditions, such as soil compaction amount, moisture level, and / or other soil factors. Alternatively or additionally, the environmental sensor 215 may be configured to detect a future terrain condition comprising a gradient amount, such as from a hill or a depression, a driving surface condition comprising an accumulated precipitation amount, and soil conditions, such as soil compaction amount, moisture level, and / or other soil factors. In these and other embodiments, the powertrain control module 205 may be configured to acquire data generated by the environmental sensor 215.

[0071] In these or other embodiments, the one or more sensors 210 may include operation sensors 220. The operation sensors 220 may be configured to detect the handling and response of the ground drone 240 to the operating environment. For example, the operation sensors 220 may be configured to detect the weight distribution of the ground drone 240 comprising the amount of force exerted through each axle end and / or wheel of the tractor, the load distribution and usage characteristics associated with the attached implement, and / or other tractor conditions. In some embodiments, the operation sensors 220 may be configured to determine one or more characteristics associated with the attached implement. These characteristics may contribute to the dynamics, stability, and / or operation of the powertrain control system 200. In these and other embodiments, the powertrain control module 205 may be configured to acquire the data generated by the operation sensors 220. In some embodiments, the environmental sensors 215 used in detecting the operating environment and the one or more motion sensors 220 used in detecting the manipulation and response of the ground drone 240 to the operating environment may include the same or substantially the same sensors.

[0072] In some embodiments, the one or more motion sensors 220 may include a camera (which may include or be in addition to a digital camera 225), lidar, radar, accelerometer, gyroscope, GPS, penetrometer, wheel speed sensors, force sensors, and / or other sensors configured to detect the driving environment and / or the tractor's response to the driving environment. For example, the motion sensors 220 of the one or more sensors 210 may detect current grade, future grade, position data, soil consistency and / or hardness, wheel speed, tractor weight distribution, and / or other driving environmental variables.

[0073] The powertrain control module 205 may comprise code and routines configured to enable a computing system to perform one or more operations. Additionally or alternatively, the powertrain control module 205 may be implemented using hardware including a processor, a microprocessor (e.g., performing or controlling one or more operations), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC). In some other examples, the powertrain control module 205 may be implemented using a combination of hardware and software. In this disclosure, the operations described as being performed by the powertrain control module 205 may include operations that the powertrain control module 205 may instruct a corresponding system to perform. Additionally, although described separately in this disclosure to facilitate the description of the different operations and roles performed, in some embodiments, one or more portions of the powertrain control module 205 may be combined or may be part of the same module.

[0074] In some embodiments, the ground drone 240 equipped with the powertrain control system 200 may include a two-wheel drive (e.g., 2WD) and / or four-wheel drive (e.g., 4WD) powertrain 245 that may be configured to receive commands from the powertrain control module 205, i.e., variable based on commands received from the powertrain controller 230. Alternatively or additionally, the powertrain 245 may include one or more motorized implements that can increase the number of drive wheels to more than four. In these and other embodiments, the powertrain control module 205 may be configured to control the torque provided to the individual wheels (including those of the motorized implements) via the powertrain controller 230. For example, in response to detected environmental conditions (e.g., from environmental data from environmental sensors 215) and current operating conditions (e.g., from operational data from operational sensors 220), powertrain control module 205 may adjust the performance of each wheel as needed to improve traction, reduce terrain damage, and / or otherwise improve the performance and handling of ground drone 240.

[0075] In some embodiments, powertrain controller 230 may be configured to interface with powertrain control module 205 and / or with ground drone 240 including powertrain 245. For example, powertrain controller 230 may be configured to receive inputs from powertrain control module 205 that powertrain controller 230 may use to direct operation and / or transitions of powertrain 245. Additionally or alternatively, powertrain control module 205 may be integrated into powertrain controller 230.

[0076] In some embodiments, powertrain controller 230 can include one or more electric motors, actuators, and / or other mechanical devices configured to operate powertrain 245. For example, if powertrain 245 is in 2WD (two-wheel drive) while powertrain control module 205 determines that the powertrain should transition to 4WD (four-wheel drive), powertrain controller 230 can cause actuators of land drone 240 to transition powertrain 245 from 2WD to 4WD.

[0077] In some embodiments, the powertrain control module 205 may be configured to receive operator input to instruct the powertrain controller 230 to switch the powertrain 245 from 2WD to 4WD and vice versa (e.g., transition between powertrains). Alternatively or additionally, the powertrain control module 205 may instruct the powertrain controller 230 to automatically transition the powertrain 245 to a different powertrain in response to current driving conditions based on input from one or more sensors 210 (e.g., data from the environmental sensor 215, data from the operation mode sensor 220, and / or images from the digital camera 225). For example, if the powertrain control module 205 receives data from one or more sensors 210 indicating a wet and / or slippery driving surface, the powertrain control module 205 may provide an output to the powertrain controller 230 to automatically transition the powertrain 245 from 2WD to 4WD to improve traction and / or control of the land drone 240. Alternatively or additionally, powertrain control module 205 can predictively instruct powertrain controller 230 to transition powertrain 245 between various powertrains based on inputs from one or more sensors 210 and / or based on learned scenarios that may have previously caused powertrain control module 205 to transition powertrain 245 between powertrains. For example, if one or more sensors 210, such as digital camera 225, lidar, or radar, detects an upcoming grade, powertrain control module 205 can automatically instruct powertrain controller 230 to transition powertrain 245 from 2WD to 4WD in anticipation of reduced traction.

[0078] In some embodiments, the powertrain control module 205 may be configured to receive inputs from an attached implement. In some embodiments, the implement inputs may be determined using the motion sensor 220. For example, the motion sensor 220 may determine an amount of drag contributed by the attached implement to the ground drone 240, a load contributed by the attached implement to the ground drone 240, a distribution of loads on the ground drone 240, etc. In some embodiments, the implement inputs may be dynamic and may change over time. For example, a harrow used in a first field having loamy soils may contribute a different drag to the ground drone 240 than a harrow used in a second field having clay soils. In another example, an attached and stored mower may include a load and load distribution profile that may differ from an attached and extended mower. In some embodiments, the implement inputs may be static and / or associated with a particular implement. For example, a first mower may be larger than a second mower, and the first mower may have a different load and load distribution profile than the second mower. In these and other embodiments, the powertrain control module 205 may control the powertrain 245 in response to the implement inputs, which may improve traction and / or performance of the ground drone 240 by adjusting the output to the powertrain controller 230.

[0079] In some embodiments, the powertrain 245 can include two or more independently controlled axles. In some embodiments, a motor may be configured to power one or more of the multiple axles. For example, the ground drone 240 may be configured to power either the front or rear axle in a 2WD mode, or both the front and rear axles in a 4WD mode. Alternatively or additionally, the powertrain 240 of the ground drone 240 may include an electric motor disposed at each axle end such that each wheel may be individually controlled. For example, if the powertrain control module 205 detects (e.g., based on data received from one or more sensors 210) that the left rear wheel is slipping relative to the other wheels, the powertrain control module 205 may adjust the power provided to the left rear wheel to limit wheel slippage while maintaining substantially similar motion with the other wheels. In some embodiments, powertrain control module 205 may determine that ground drone 240 may benefit from different amounts of power supplied to each wheel such that the power supplied to each wheel of ground drone 240 results in substantially similar movement in each of the four wheels of ground drone 240.

[0080] In some embodiments, powertrain control module 205 may be configured to store environmental and / or operating conditions (e.g., as detected by one or more of sensors 210) to predict future operational responses (driving responses) of powertrain control system 200. This may include powertrain control module 205 instructing powertrain controller 230 to transition powertrain 245 of ground drone 240.

[0081] For example, powertrain control module 205 may be configured to store the detected gradient and road conditions. Alternatively or additionally, powertrain control module 205 may be configured to associate the detected gradient and road conditions with position data. In some embodiments, powertrain control module 205 may be configured to predict future driving responses of powertrain system 205 based on the stored detected gradient and road conditions and their associated position data.

[0082] For example, if the powertrain control module 205 determines that the gradient is steep at the first position (e.g., based on a stored gradient and road conditions associated with the first position), the powertrain control module 205 may instruct the powertrain controller 230 to shift the powertrain 245 from 2WD (two wheel drive) to 4WD (four wheel drive) just before or simultaneously with reaching the first position.

[0083] In another example, if powertrain control module 205 determines that soil may be soft at the second location based on environmental data obtained from environmental sensor 215 associated with the second location (such that soft soil may cause wheels of ground drone 240 to slip), powertrain control module 205 may instruct powertrain controller 230 to transition powertrain 245 from 2WD to 4WD before reaching the second location. In some embodiments, powertrain control module 205 can instruct powertrain controller 230 to transition powertrain 245 between powertrains if adverse driving conditions exist. Adverse driving conditions may include soft soil and other soft terrain, gradients of 5% or more, precipitation and other potentially slippery surfaces, obstacles with tall vegetation, dense vegetation, and / or steps, and / or other conditions that may reduce traction of ground drone 240.

[0084] In some embodiments, the powertrain control module 205 can instruct the powertrain controller 230 to transition the powertrain 245 from 4WD to 2WD when no adverse driving conditions exist. Thus, the amount of resources used by the powertrain control system 200 can be reduced. For example, if the powertrain control module 205 determines (e.g., based on inputs received from one or more of the sensors 210) that the ground drone 240 has moved from soft soil to a more compact driving surface, the powertrain control module 205 can instruct the powertrain controller 230 to transition the powertrain 245 from 4WD to 2WD. In another example, if the powertrain control module 205 determines that the ground drone 240 has moved from a surface having a gradient of more than 5% to a substantially level surface, the powertrain control module 205 can instruct the powertrain controller 230 to transition the powertrain 245 from 4WD to 2WD.

[0085] In some embodiments, the powertrain control module 205 may yield to operator input. For example, if the powertrain control module 205 determines that the powertrain 245 should be in 2WD, but the operator manually selects 4WD, the powertrain control module 205 may not attempt to change the powertrain 245 from 4WD. The powertrain control module 205 may not attempt to automatically adjust the powertrain 245 until the driver provides input to re-enable the powertrain control module 205 and / or until a certain amount of time has passed. For example, after the operator overrides the powertrain control module 205, the powertrain control module 205 may not attempt to adjust the powertrain 245 for an hour.

[0086] In some embodiments, powertrain control module 205 can include software and / or hardware components capable of implementing artificial intelligence (AI) and / or machine learning. Alternatively or additionally, powertrain control module 205 may transmit sensor data from one or more sensors 210 to ground drone 240 and / or a remote system. The ground drone 240 and / or the remote system may include software and / or hardware components capable of performing AI and / or machine learning that may be trained to determine which settings perform better than other settings based on certain conditions indicated by the sensor inputs.

[0087] In some embodiments, the AI ​​and / or machine learning may aggregate operator responses associated with the powertrain control system 200. The AI ​​and / or machine learning may then associate the aggregated responses with the detected operating environment and make decisions regarding the operation of the ground drone 240 therefrom. For example, the AI ​​and / or machine learning may associate multiple instances in which the operator shifted the powertrain 245 from 2WD to 4WD at a first location. The AI ​​and / or machine learning may then instruct the powertrain controller 230 to automatically shift the powertrain 245 from 2WD to 4WD in the future when the ground drone 240 approaches the first location.

[0088] In some embodiments, the AI ​​and / or machine learning system may be integrated into powertrain control module 205 such that powertrain control module 205 performs some or all of the functions of the AI ​​and / or machine learning system. Alternatively or additionally, the AI ​​and / or machine learning may be separate and / or distinct from powertrain control module 205 as well as configured to communicate to powertrain control module 205. For example, in examples where the AI ​​and / or machine learning is separate from powertrain control module 205, the AI ​​and / or machine learning operations of powertrain system 205 may be performed by a computing system, such as computing system 202 of FIG. 2.

[0089] In some embodiments, the powertrain control module 205 may be configured to load balance weights on the ground drone 240. In some embodiments, the load balance controller 235 may be configured to interface with the powertrain control module 205 and / or the ground drone 240, such as one or more movable weights on the ground drone 240. The powertrain control module 205 may be configured to instruct the load balance controller 235 to redistribute one or more weights that may contribute to better control of the ground drone 240 and less damage to the terrain in adverse operating conditions. For example, if the rear wheels of the ground drone 240 are slipping, the powertrain control module 205 may instruct the load balance controller 235 to redistribute the weight of the ground drone 240 toward the rear wheels. The load balance controller 235 may be implemented in conjunction with or in addition to the powertrain controller 230, which transitions between powertrains. In some embodiments, ground drone 240 may include one or more weights disposed on or within ground drone 240 that may be controlled by load balance controller 235. For example, if ground drone 240 is an electric vehicle, the battery may be movable forward, backward, left, right, and / or combinations thereof to contribute to load balance as directed by load balance controller 235.

[0090] In some embodiments, the load balance controller 235 may be configured to adjust one or more movable weights on the ground drone 240 to improve the stability of the ground drone 240. In some embodiments, the load balance controller 235 may obtain operation data from the operation sensors 220 to determine instances where load balancing for stability of the ground drone 240 may be implemented. For example, if the operation sensors 220 determine that the ground drone 240 is approaching a tipping point (e.g., when traveling on a steep slope), the load balance controller 235 may direct the movement of one or more weights on the ground drone 240 that may adjust the center of gravity of the ground drone 240 to make the ground drone 240 more stable and / or less likely to tip over. In some embodiments, the load balance controller 235 may be configured to proactively readjust one or more weights on the ground drone 240 when a threshold stability metric is exceeded.

[0091] In some embodiments, the one or more weights controlled by the load balance controller 235 may include an electric motor capable of moving the weights. For example, the one or more weights may be triggered by the load balance controller 235 to be adjusted by an electronic system of the ground drone 240. In some embodiments, the one or more weights may be configured to move to help improve the traction of the ground drone 240, as needed. For example, if the ground drone 240 is traveling across a slope, the powertrain control module 205 may instruct the load balance controller 235 to adjust the one or more weights toward the uphill side of the ground drone 240. This may improve traction. In another example, if the ground drone 240 is traveling on soft soil and the rear wheels are slipping, the powertrain control module 205 may instruct the load balance controller 235 to adjust the one or more weights toward the rear of the ground drone 240. This may improve traction and therefore reduce damage to the soil.

[0092] In some embodiments, the load balance system of the ground drone 240 may include an adjustable spring mechanism, which may contribute to better control of the ground drone 240 as well as less damage to the terrain in adverse operating conditions. For example, if the ground drone 240 is traveling across a slope, the powertrain control module 205 may instruct the load balance controller 235 to not only loosen the adjustable spring mechanism on the uphill side of the ground drone 240 but also stiffen the adjustable spring mechanism on the downhill side of the ground drone 240, which may contribute to increased stability of the ground drone 240 and less damage to the terrain. The load balance system of the ground drone 240 may include an adjustable spring mechanism in conjunction with or in addition to the powertrain control module 205 directing the transition between powertrains and / or the powertrain control module 205 directing the redistribution of one or more weights as part of the load balance system.

[0093] In some embodiments, the powertrain control module 205 can instruct the load balance controller 235 to cause the electronic system of the ground drone 240 to adjust the adjustable spring mechanism. For example, the powertrain control module 205 can instruct the load balance controller 235 to make the adjustable spring mechanism stiffer or looser as needed to improve the traction and / or stability of the ground drone 240, which may help reduce damage to soil. In some embodiments, the amount of adjustment instructed by the powertrain control module 205 to the adjustable spring mechanism may be determined based on data from one or more sensors 210, such as the motion sensor 220. For example, if the motion sensor 220 detects that the ground drone 240 is on a steep slope, the powertrain control module 205 can instruct the load balance controller 235 to make the adjustable spring mechanism stiffer and / or looser than if the ground drone 240 is on a gentle slope.

[0094] In some embodiments, the powertrain control module 205 may be installed in an existing agricultural vehicle, such as a tractor. Alternatively or additionally, the powertrain control module 205 may be incorporated into a future agricultural vehicle, such as an autonomous ground drone.

[0095] 3 illustrates a block diagram of an exemplary computing system 302 according to at least one embodiment of the present disclosure. One or more of the computing systems 302 may be included in and / or configured to perform or direct one or more operations associated with a multi-operation terrestrial drone (e.g., the terrestrial drone 100 of FIG. 1 and / or the terrestrial drone 102 of FIG. 1). Additionally or alternatively, the computing system 302 may be included in and / or configured to perform or direct one or more operations associated with a battery control unit and / or a removable dashboard (e.g., the battery control unit 122 and / or the removable dashboard 140 of FIG. 1). The computing system 302 may include a processor 350, a memory 352, and a data storage device 354. The processor 350, the memory 352, and the data storage device 354 may be communicatively coupled.

[0096] In general, the processor 350 may comprise any suitable special purpose or general purpose computer, computing entity, or processing device, including various computer hardware or software modules, as well as configured to execute instructions stored on any applicable computer-readable storage medium. For example, the processor 350 may include a microprocessor, a microcontroller, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or any other digital or analog circuitry configured to interpret and / or execute program instructions and / or process data. Although illustrated in FIG. 3 as a single processor, the processor 350 may include any number of processors configured, individually or collectively, to perform or direct the performance of any number of operations described in this disclosure. Additionally, one or more of the processors may reside on one or more different electronic devices, such as different servers.

[0097] In some embodiments, the processor 350 may be configured to interpret and / or execute program instructions and / or process data stored in the memory 352, in the data storage device 354, or in the memory 352 and the data storage device 354. In some embodiments, the processor 350 may fetch program instructions from the data storage device 354 or load the program instructions into the memory 352. After the program instructions are loaded into the memory 352, the processor 350 may execute the program instructions. In some embodiments, one or more of the modules described in this disclosure may be stored as program instructions.

[0098] Memory 352 and data storage 354 may comprise computer-readable storage media for carrying or storing computer-executable instructions or data structures. Such computer-readable storage media may include any available media that can be accessed by a general-purpose or special-purpose computer, such as processor 350. By way of example, and not limitation, such computer-readable storage media may comprise tangible or non-transitory computer-readable storage media that may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), compact disk read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage, flash memory devices (e.g., solid-state memory devices), or any other storage medium that can be used to transmit or store specific program code in the form of computer-executable instructions or data structures and that can be accessed by a general-purpose or special-purpose computer. Combinations of the above may also be included within the scope of computer-readable storage media. Computer-executable instructions may comprise, for example, instructions and data configured to cause processor 350 to perform a particular operation or group of operations.

[0099] Modifications, additions, or omissions may be made to computing system 302 without departing from the scope of the present disclosure. For example, in some embodiments, computing system 302 may include any number of other components that may not be explicitly shown or described.

[0100] 4 illustrates a flowchart of an example method 400 of selecting an operation mode for a multi-operation terrestrial drone, as described in accordance with at least one embodiment of the present disclosure. Method 400 may be performed by any suitable system, apparatus, or device. For example, one or more of the operations of method 400 may be performed by a terrestrial drone and / or by a computing system included in the terrestrial drone.

[0101] At block 402, an operating environment for the multi-operation terrestrial drone may be determined. For example, in some embodiments, sensor data may be obtained as described above with respect to sensors 130 of Figure 1 and / or sensors 210 of Figure 2. Additionally, environmental conditions as described above with respect to Figures 1 and 2 may be determined based on the sensor data and may be examples of different operating environments that a terrestrial drone may encounter.

[0102] At block 404, an operation mode may be selected based on the determined operating environment. In some embodiments, the operation mode may be selected from an operation mode group comprising a manual operation mode, a remote operation mode, and an autonomous operation mode. The manual mode may be a mode in which an operator is physically present on the land drone and manually controls the land drone while on the land drone. The teleoperation mode may be a mode in which an operator is not physically present on the land drone and controls the land drone via a control panel (e.g., the removable dashboard of FIG. 1). The autonomous operation mode may include the land drone autonomously performing one or more operations with or without the operator present. Additionally, the teleoperation mode may include a line of sight mode or a teleoperation control mode.

[0103] Examples of selecting a particular operating mode include those discussed above regarding the hazardous nature of the operating environment (e.g., steepness of slopes, muddy conditions, icy conditions, etc.), the proximity of the ground drone to the operator in the operating environment, etc.

[0104] Modifications, additions, or omissions may be made to method 400 without departing from the scope of the present disclosure. For example, the order of one or more operations described may differ from the order described or illustrated. Additionally, each operation may include more or fewer operations than those described. For example, any number of the operations and concepts described above with respect to FIG. 1 or FIG. 2 may be included in or incorporated by method 400. Additionally, the division of operations and elements is for illustrative purposes only and is not meant to be limiting with respect to the actual implementation.

[0105] 5 illustrates a flowchart of an example method 500 for adjusting a powertrain of a vehicle (e.g., a multi-operation land drone, a tractor, etc.), as described in accordance with at least one embodiment of the present disclosure. Method 500 may be performed by any suitable system, apparatus, or device. For example, one or more operations of method 500 may be performed by a powertrain control module and / or a computing system.

[0106] In block 502, the vehicle's operating environment may be determined, as described above with respect to block 402 of FIG. At block 504, powertrain settings of the vehicle may be adjusted based on the determined operating environment. In some embodiments, the powertrain settings may comprise any of the modes or operations described above with respect to Figure 2. Further, decisions regarding which settings to adjust and / or the type of adjustment may be as described above with respect to Figure 2.

[0107] In these or other embodiments, the load balance of the vehicle may be adjusted based on the determined operating environment in block 506. In some embodiments, adjusting the load balance may include any one or more of the operations described above with respect to FIG. 2 in relation to load balance.

[0108] Modifications, additions, or omissions may be made to method 500 without departing from the scope of the disclosure. For example, the order of one or more operations described may differ from the order in which they are described or illustrated. Additionally, each operation may include more or fewer operations than those described. For example, any number of the operations and concepts described above with respect to FIG. 1 or FIG. 2 may be included in or incorporated by method 500. Additionally, the division of operations and elements is for illustrative purposes only and is not intended to be limiting with respect to the actual implementation.

[0109] The terms used in this disclosure and the appended claims (e.g., the body of the appended claims) are generally intended as "open" terms (e.g., the term "comprising" should be interpreted as "including, but not limited to," the term "having" should be interpreted as "having at least," the term "including" should be interpreted as "including, but not limited to," etc.).

[0110] Furthermore, where a particular number of introduced claim recitations is intended, such intent is expressly recited in the claim, and no such intent exists in the absence of such recitation. For example, as an aid to understanding, the following appended claims may include the use of the introductory phrases "at least one" and "one or more" to introduce the claim recitations. However, the use of such phrases should not be interpreted as meaning that the introduction of a claim recitation with the indefinite article "a" or "an" limits a particular claim comprising such introduced claim recitation recitations to an embodiment comprising only one such recitation. Even if the same claim comprises the introductory phrase "one or more" or "at least one" and an indefinite article such as "a" or "an" (e.g., "a" and / or "an" should be interpreted to mean "at least one" or "one or more"). The same is true when using a definite article to introduce a claim recitation.

[0111] In addition, even if a particular number of introduced claim recitations is explicitly recited, one of ordinary skill in the art will recognize that such recitation should be interpreted to mean at least the recited number (e.g., the bare recitation "two recitations" without other modifiers means at least two recitations, or more than two recitations). Furthermore, when idiomatic phrases similar to "at least one of A, B, and C, etc." or "one or more of A, B, and C, etc." are used, such constructions are generally intended to include A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B, and C together, etc.

[0112] Furthermore, whether in the specification, claims, or drawings, a disjunctive phrase presenting two or more alternative terms should be understood to contemplate the possibility of including one of the terms, either term, or both terms. For example, the phrase "A or B" should be understood to include the possibility of "A" or "B" or "A and B". This interpretation of the phrase "A or B" remains applicable even if the phrase "A and / or B" is used to include the possibility of "A" or "B" or "A and B". All examples and conditional statements incorporated in this disclosure are intended for educational purposes to help the reader understand the concepts contributed by the inventor to further the disclosure and technology, and are to be construed as being limited to such specifically incorporated examples and conditions. Although embodiments of the present disclosure have been described in detail, various changes, substitutions, and alterations can be made without departing from the spirit and scope of the present disclosure. Accordingly, it is intended that the scope of the present invention be defined solely by the claims that follow.

Claims

1. 1. A method, comprising: Analyzing, by a computing system associated with the multi-operation terrestrial drone, sensor data acquired using one or more sensors associated with the multi-operation terrestrial drone; determining, by the computing system, one or more operating environment conditions corresponding to an operating environment of the multi-operation terrestrial drone based on the analysis of the sensor data; selecting, by the computing system, a teleoperation mode for the multi-operation terrestrial drone based on one or more determined operating environmental conditions; and in response to the multi-operation terrestrial drone being selected, by the computing system, to operate in the teleoperated mode, causing the multi-operation terrestrial drone to perform one or more control operations; The method comprises:

2. the one or more operating environmental conditions comprise one or more of: one or more weather conditions or one or more terrain conditions; The method of claim 1.

3. The one or more terrain conditions include one or more of: a degree of slope of a terrain over which the multi-operation land drone is operating; or one or more surface conditions of the terrain; The method of claim 2.

4. the one or more surface conditions comprising one or more of: an amount of compaction of soil of the terrain; or an amount of moisture in soil of the terrain; The method according to claim 3.

5. the teleoperation mode is selected from a group of teleoperation modes comprising a line-of-sight remote control mode, a remote-operated remote control mode, and an autonomous navigation mode; The method of claim 1.

6. selecting the remote operation mode is responsive to a determination that the operating environment poses potential harm to an operator if the operator is present on or in the multi-operation land drone. The method of claim 1.

7. The method further comprises adjusting a powertrain configuration of the multi-operation ground drone based on one or more determined operating environment conditions; The step of adjusting the powertrain settings is performed prior to the multi-operation land drone encountering at least one of the one or more operating environmental conditions. The method of claim 1.

8. The method further includes adjusting a weight distribution of the multi-operation ground drone based on one or more of the operating environmental conditions. The method of claim 1.

9. A multi-operation ground drone, comprising: Body and A movable weight disposed on the vehicle body; a computing system configured to cause execution of an operation comprising: modifying a position of the movable weight based on one or more operating environmental conditions corresponding to an operating environment of the multi-operation terrestrial drone; and selecting a teleoperation mode for the multi-operation terrestrial drone based on the one or more operating environmental conditions; A multi-operation land drone equipped with

10. The operations further include determining one or more of the operating environmental conditions based on sensor data obtained using one or more sensors. The multi-operation land drone of claim 9.

11. The operation further comprises: determining that a particular operating environmental condition of the one or more operating environmental conditions is a next operating environmental condition; modifying the position of the movable weight for the next operating environmental condition before the multi-operation land drone encounters the next operating environmental condition; The multi-operation land drone of claim 9 .

12. The operations further include adjusting a powertrain setting for the next operating environmental condition prior to the multi-operation ground drone encountering the next operating environmental condition. The multi-operation land drone of claim 11.

13. The operations further include adjusting a suspension system of the multi-operation ground drone based on one or more of the operating environmental conditions. The multi-operation land drone of claim 9.

14. the one or more operating environmental conditions comprise one or more of: one or more weather conditions or one or more terrain conditions; The multi-operation land drone of claim 9.

15. 1. A system comprising one or more processors configured to cause the execution of operations, the operations comprising: analyzing sensor data acquired using one or more sensors corresponding to a multi-operation terrestrial drone; determining a next operating environment condition corresponding to an operating environment of the multi-operation terrestrial drone based on the analysis of the sensor data; performing one or more corrective actions with respect to the upcoming operating environmental condition prior to the multi-operation land drone encountering the upcoming operating environmental condition; selecting a teleoperation mode for the multi-operation terrestrial drone based on one or more of the operating environmental conditions; The system comprises:

16. The one or more adjustment actions include: adjusting a powertrain setting of the multi-operation ground drone; adjusting the weight distribution of the multi-operation ground drone; or initiating the remote operation mode for the multi-operation terrestrial drone; 16. The system of claim 15, comprising one or more of:

17. adjusting the weight distribution includes adjusting a suspension of the multi-operation land drone; or Changing a position of a movable weight disposed on the multi-operation land drone; One or more of the following:

17. The system of claim 16.

18. The adjustment of the powertrain setting and adjusting the power applied to each of the plurality of wheels of the multi-operation ground drone independently and individually.

17. The system of claim 16.

19. the one or more corrective actions are based on reducing potential damage to a soil on which the multi-operation terrestrial drone is operating; The system of claim 15.

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