Method and system for controlling application rate of biological agents

Abstract

A system and method for controlling application rate of biological agents is disclosed. A dispersal device having a variable rate, such as a drum with a variable rotation speed, is coupled to a weight sensor and processor. The weight of biological agents in the dispersal device is thereby measured and used to calculate application rate. The dispersal device may then be operated according to one of several modes, including automated control of the dispersal device by the processor to maintain a target application rate.

Description

UTILITY PATENT APPLICATIONMETHOD AND SYSTEM FOR CONTROLLING APPLICATION RATE OF BIOLOGICAL AGENTSINVENTOR: CHANDLER BENNETTPRIORITY CLAIM

[0001] This non-provisional application claims priority to Provisional Patent Application Serial Number 63 / 561,595, entitled "METHOD AND SYSTEM FOR CONTROLLING APPLICATION RATE OF BIOLOGICAL AGENTS," filed on March 5, 2024, which is included by reference as fully set forth herein.TECHNICAL FIELD

[0002] The present invention relates generally to the application of biological agents or other materials to a target area, particularly biological organisms or materials used to control agricultural pests.BACKGROUND OF THE INVENTION

[0003] Biological agents include various organisms and materials, the introduction of which is intended to have a desired biological effect. Biological agents may be applied to a target area for a variety of purposes. In particular, it is common to apply biological agents to agricultural fields in order to promote crop health and productivity. For example, in order to control insect pests, it may be beneficial to release predatory species in the target area.

[0004] Application of biological agents via mechanical means has traditionally relied on manual calibration of the application equipment to determine a known rate per given amount of time. For example, an application device may be manually calibrated by setting the speed for a dispersalmechanism or by adjusting the size of the hole through which biological agents are released. Application rate can only later be calculated by measuring the total output released per the duration of time the equipment was in operation. Methods and systems to calculate and control application rate in real time are needed in order to apply biological agents with greater precision, as well as vary application rate during operation in response to varying conditions.SUMMARY OF THE INVENTION

[0005] The present invention provides a system and methods for controlling application rate of biological agents using a weight sensor. In various embodiments, a system arranged according to the present invention comprises the following components: a weight sensor unit, a boom, a microcontroller, a release assembly, and a motor. The system may also include a user interface, such as a remote control unit, a global positioning system (GPS) or other geolocation data receiver, and a data storage medium containing data related to the target area.

[0006] Various advantageous rate control methods, implemented in whole or in part on the microcontroller, may be performed using the system disclosed above. For example, the present invention allows a user to operate the release assembly in Manual Mode, Rate Control Mode, or Variable Rate Mode.

[0007] In Manual Mode, the microcontroller processes input from the weight sensor unit in order to calculate real-time application rate information, which is then provided to the user. Based on this information, the user may manually adjust the speed of the motor and thus the intensity of the release assembly’s operation.

[0008] In Rate Control Mode, the microcontroller likewise calculates application rate in real time. Based on the calculated application rate, the microcontroller automatically varies output tothe motor in order to achieve a target application rate, such as an application rate defined by user input.

[0009] In Variable Rate Mode, the microcontroller receives further input from the Global Positioning System and the data storage medium containing data related to the target area. The microcontroller calculates application rate as described above. Then, using a maximum target application rate, such as a rate input by the user, the location of the release assembly, and a variable rate for that location (as defined by the data contained on the data storage medium), the microcontroller automatically varies output to the motor in order to achieve a target application rate for a given location.BRIEF DESCRIPTION OF THE DRAWINGS

[0010] FIG. 1 is a perspective view of hardware components arranged according to the present invention, as mounted on an unmanned aerial vehicle.

[0011] FIG. 2 is a perspective view of hardware components arranged according to an alternative embodiment of the present invention.

[0012] FIG. 3 is an alternative view of the hardware components depicted in FIG. 2.

[0013] FIG. 4 is a front perspective view of a weight sensor unit disposed between a release assembly boom and vehicle mounting bar.

[0014] FIG. 5 is a front perspective view of a remote control unit.

[0015] FIG. 6 is a block diagram illustrating flow of information between hardware and software components according to the present invention.

[0016] FIG. 7 is a block diagram illustrating an example workflow according to the present invention.

[0017] FIG. 8 is an execution diagram illustrating a method of applying materials according to the Manual Mode described herein.

[0018] FIG. 9 is an execution diagram illustrating a method of applying materials according to the Rate Control Mode described herein.

[0019] FIG. 10 is an execution diagram illustrating a method of applying materials according to the Variable Rate Mode described herein.

[0020] FIG. 11 is a schematic diagram illustrating an example arrangement of electronic components within a control box.

[0021] FIG. 12 is a front perspective view of a release assembly, weight sensor assembly, and related hardware.

[0022] FIG. 13 is a rear perspective view of the components depicted in FIG. 12.

[0023] FIG. 14 is a front plan view of the components depicted in FIG. 12.

[0024] FIG. 14 is a side plan view of the components depicted in FIG. 12.DETAILED DESCRIPTION

[0025] In various embodiments, a system arranged according to the present invention comprises a weight sensor unit assembly 110, a boom 120, a microcontroller 130 (or other processor), a release assembly 140, and a motor 150. The system may also include a user interface, such as a remote control unit 600.

[0026] The terms “release assembly” and “dispersal device,” as used herein, are intended to be understood broadly to refer to any apparatus or assemblage having a means of containing a payload of biological agents or other materials and a means of releasing portions of said payloadover time. The amount of materials released over a given period of time or per a given area is referred to herein as the “application rate,” “dispersal rate,” or “release rates,” terms likewise intended to be understood broadly. For example, the release assembly depicted in FIGS. 1-3 and 12-15 is an apparatus comprising a rotatable drum, analogous to the apparatus (referenced therein as a “dispersion unit”) disclosed in U.S. Patent No. 11066167, as well as related U.S. Utility Application Serial Number 18 / 476,721, both entitled "Method and Apparatus used for Biological Control of Agricultural Pests," both of which are incorporated herein by reference.

[0027] The release assembly 140 comprises a container 141 having an inner cavity for containing biological agents or other payload materials. For example, in the embodiment illustrated in FIGS. 1-3, the release assembly container is a rotatable drum or tube 141 having an inner cavity for containing the payload materials. The inner cavity is surrounded by an outer wall having a plurality of openings 142, through which the payload materials are released. The outer wall of the release assembly tube 141 may be transparent, as depicted in FIGS. 1-3, or opaque, as depicted in FIGS. 12-15.

[0028] The release assembly tube 141 is coupled to the motor 150, which is configured to rotate the tube around the tube’s central axis. The motor 150 has a variable speed, which in turn varies the frequency of the tube’s rotation. Rotation of the tube causes the biological agents contained therein to be released, and the frequency of rotation is positively correlated with rate of release.

[0029] The release assembly 140 may be coupled to a boom 120, such that the boom accepts and distributes the weight of the release assembly and any biological agents contained therein. For example, in the embodiments depicted in FIGS. 1-3, the release assembly is suspended from the boom by a first coupler 121 and a second coupler 122. In this embodiment, the motor 150 is disposed between the first coupler 121 and the release assembly tube 141 and coupled to the tube141 substantially at the tube’s center axis. A bearing 143 is disposed between the second coupler122 and the release assembly tube 141, allowing the tube to rotate around its center axis when driven by the motor.

[0030] Referring still to the embodiments depicted in FIGS. 1-3, the boom 120 is coupled to a weight sensor unit 110, which comprises a weight sensor 111 configured to measure the weight of material suspended from the boom, including any payload materials contained in the release assembly 140, such as the contents of the inner cavity of the release assembly tube 141 depicted in FIGS. 1-3. In this embodiment, the weight sensor unit 110 comprises a first end 112 and second end 113. The weight sensor 111 is disposed between the first end 112 and second end 113. The first end 112 is coupled to the release assembly 140. For example, in the embodiments of FIGS. 1-3, the weight sensor first end 112 is attached to the boom 120, from which the release assembly 140 is suspended.

[0031] The weight sensor second end 113 is configured to be mounted to a vehicle, such as a tractor or an unmanned aerial vehicle (UAV). For example, in the embodiment depicted in FIG.1, the system’s hardware is mounted to a UAV 160. Optimally, the point of contact between the vehicle 160 and each release assembly unit 140 will be isolated at the weight sensor second end(s) 113 in order for the weight sensor(s) 111 to accurately measure the weight of the release assembly unit. In various embodiments, the weight sensor second end 113 may be coupled to a mounting bar 161 or similar element which is secured to the vehicle.

[0032] The arrangement of the release assembly unit(s) 140 and weight sensor assembly unit(s) 110 may be adapted to suit the vehicle. For example, FIG. 1 and FIGS. 12-15 show an embodiment in which the weight sensor second end 113 is coupled to the distal end of a short mounting bar 161 which is secured at its opposite end to the frame of the UAV 160, that extendsoutframe of the UAV 160, such that booms 120 are mounted in a substantially lateral arrangement relative to the central frame of the vehicle. In contrast, FIGS. 2-3 show an embodiment directed towards a different model of UAV. This embodiment features a mounting bar 161 secured to the vehicle 160 at both ends (in this case, disposed between the UAV struts). As shown in FIGS. 2-4, the weight sensor assembly 110 may be coupled to the boom 120 via the weight sensor first end 112 and to the mounting bar 161 via the weight sensor second end 113, such that the boom is arranged above and perpendicular to the mounting bar. In this arrangement, each mounting bar 161 may be coupled to a plurality of weight sensor assembly units 110, and the release assembly units are mounted substantially below the carriage of the vehicle (in this case, within the UAV struts).

[0033] In various embodiments, a system according to the present invention may include a plurality of release assembly units 140, each suspended from corresponding boom 120 and coupled to a corresponding motor 150 and arranged per the descriptions above. Further, each boom 120 may be coupled to a plurality of weight sensor units 110. Where a single boom is coupled to a plurality of weight sensor units, a plurality of weight sensors collectively measures the weight of material suspended from said boom. Where the system includes a plurality of release assembly units, each with a corresponding boom and motor and one or more corresponding weight sensors, the weight sensors may all be connected to the same microcontroller 130.

[0034] The system’s electronics may be consolidated within a control box 1110, which may be mounted to a vehicle. For example, FIG. 1 shows a control box 1110 mounted beneath the chassis of a UAV 160, disposed between the UAV’s struts. FIG. 11 illustrates a possible arrangement of electronics components within a control box 1100, connections between certaincomponents being depicted in dashed lines. In various embodiments, electronics within the control box may include the primary microcontroller 130 or other processor, a radio or other wireless communication transmitter / receiver microcontroller 1120, a geolocation receiver board 1130, and a data storage interface 1140, all of the foregoing being connected to a motherboard 1110 via which they are in communication with one another. The circuit board and its components may also be connected to other components of the system, including hardware disposed outside the control box. Such components may communicate via serial connections, though it should be understood that alternative means of signal transmission may be substituted. For example, referring to the embodiment of FIG. 11, the radio microcontroller 1120 is connected to a radio antenna 1121, while the geolocation receiver board is connected to a geolocation signal receiver 1131. The data storage interface 1140 may be connected to an external data storage medium, such as a Secure Digital (SD) flash memory card reader 1141, which may be disposed outside the control box in order to allow a user to conveniently input and retrieve data.

[0035] As illustrated in FIG. 11, the primary microcontroller 130 is also connected to and in communication with the motor 150, as well as the weight sensor 111. In various embodiments, the weight sensor may measure weight via load cells, which output an analog voltage to a HX711 analog to digital converter (ADC) 114. The HX711 ADC 114 then transmits a digital signal to the microcontroller 130.

[0036] In various embodiments, the system may also comprise a user interface, which may connect remotely to the primary microcontroller 130 via a wireless communication means such as a radio transmitter / receiver 1120. For example, FIG. 5 depicts a remote control unit 500, connected to the microcontroller via a means of wireless communication. The remote controlunit depicted in FIG. 5 comprises an antenna 510, which may be configured to transmit and receive radio or other wireless communication signals. The remote control unit 500 may comprise a number of user input / output components, such as a motor on / off switch 520, a mode switch 530, a speed or target rate control knob 540, a digital readout 550, and a graphical screen 560. In embodiments used in connection with a UAV, the foregoing components may be incorporated into a user interface that also houses the UAV flight controls 570.

[0037] In certain embodiments, the system may also or alternatively receive input from the user through a variety of virtual user controls on a hosted website.

[0038] Using the elements described above, the rate of application of biological organisms or materials can be controlled in a variety of ways. For example, in various embodiments, a user may select one of several rate modes via the user interface, such as by use of the mode switch 530 depicted in FIG. 5. The selected rate mode determines how the microcontroller processes input and output. Rate modes may include a Variable Rate Mode, Manual Mode, and Rate Control Mode.

[0039] When the microcontroller 130 receives input from the weight sensor or sensors 111, it assigns a variable based on the value of weight measured. The weight variable is then processed by software functions implemented on the microcontroller to determine application rate, which may be expressed, for example, in units of oz. / min. (ounces of biological agents released per minute). The application rate may then be transmitted to the user interface to, for example, be displayed as a value on the digital readout 550 of the remote control unit 500. The application rate is also used by the microcontroller to manage output according to the rate mode selected by the user. For example, application rate may be used as a variable to determine pulse-widthmodulation (PWM) frequency, thus controlling motor speed and, by extension, intensity of operation of the release assembly.

[0040] In Manual Mode, a motor speed is determined according to input by a user, for example based on a value ranging from 0% to 100% of the motor’s maximum speed. The microcontroller then turns the motor on and off and, when on, maintains the determined speed. A user may change motor speed and turn the motor on and off via the user interface, which sends instructions to the microcontroller as described above. For example, a user operating in Manual Mode may manually monitor the application rate displayed on the user interface and, using this information, choose to temporarily switch off the motor or may instead adjust the motor speed.

[0041] FIG. 8 illustrates a method of operation according to Manual Mode 800. At block 801, a user begins dispersing biological agents by means of a device configured as previously described. At block 802, the weight of biological agents is measured at a first point in time. For example, the weight of the biological agent container may be measured via load cells by one or more weight sensors. At block 803, the weight of biological agents is measured at a second point in time. At block 804, an application rate is calculated based on the change in weight over time. At blocks 805, 806, and 807, the user manually adjusts the motor speed based on the calculated application rate. In particular, motor speed is maintained if the calculated application rate is equal to the desired application rate 805, motor speed is increased if the calculated application rate is less than the desired application rate 806, and motor speed is decreased if the calculated application rate is greater than the desired application rate 807. At block 808, the weight of biological agents is measured at a third point in time. At block 809, the application rate is recalculated based on the change in weight over time.

[0042] In Rate Control Mode, a desired application rate is determined. For example, a user may select an application rate, in oz. / min., via the user interface. Using the weight variable, the microcontroller calculates the rate of weight change and, based on comparison to the desired application rate, automatically varies output to the motor. For example, the microcontroller may adjust the motor speed and / or switch the motor on or off in order to achieve the desired application rate over time.

[0043] FIG. 9 illustrates a method of operation according to Rate Control Mode 900. At block 901, a user inputs a target application rate to the microcontroller. At block 902, the user then begins dispersing biological agents by means of a device configured as previously described. At blocks 903, 904, 905, the weight of biological agents is measured at a first and second point in time, which measurements are used to calculate an application rate as previously described. At blocks 906, 907, and 908, the microcontroller adjusts the motor speed in order to achieve or maintain the target application rate. At blocks 909 and 910, the weight of biological agents is again measured and the application rate recalculated.

[0044] In Variable Rate Mode, a maximum target application rate is determined, for example, based on user input. The microcontroller varies output to the motor as a function of the weight variable, as described above with respect to Rate Control Mode. In addition, one or more variable rates are determined. For example, variable rates may be expressed as a percentage of the maximum target application rate, ranging from 0% to 100%, based on user input.

[0045] In embodiments featuring Variable Rate Mode, the microcontroller is further connected to and communicates with a GPS receiver and / or a data storage medium containing target area data, such as latitudinal and longitudinal coordinate values or polygon areas. For example, a user may input a prescription map, defining certain subareas within the target area as variable areasand / or hazard areas. The microcontroller then receives input from the GPS, such as position, speed, and altitude variables. Using the GPS input and target area data input, the microcontroller then varies output to the motor to achieve the variable rate corresponding to any variable area in which the release assembly is then located. For example, when GPS input indicates location within a variable area, motor output may be adjusted based on a pre-determined variable rate of 50% of maximum target application rate. Likewise, when GPS input indicates location within a hazard area, the microcontroller may switch off the motor entirely, effectively achieving a variable rate of 0%.

[0046] FIG. 10 illustrates a method of operation according to Variable Rate Mode 1000. At block 1001, a user inputs a default target application rate to the microcontroller. At block 1002, the user connects a data storage medium to the microcontroller having data sufficient to determine a plurality of additional target application rates corresponding to a plurality of geographic locations. At block 1003, the user then begins dispersing biological agents by means of a device configured as previously described. At blocks 1004, 1005, 1006, the weight of biological agents is measured at a first and second point in time, which measurements are used to calculate an application rate as previously described. At block 1007, the microcontroller receives a first geolocation input from a connected geolocation data receiver, wherein the first geolocation input is sufficient to determine the present coordinates of the device. At block 1008, the microcontroller determines the target application rate, if any, corresponding to the device’s location based on the information stored on the data storage medium. At blocks 1009, 1010, and 1011, the microcontroller adjusts the motor speed in order to achieve or maintain the target application rate corresponding to the device’s location or, if no such target application rate isidentified, the default target application rate set by the user. At blocks 1012, 1013, the weight of biological agents is again measured and the application rate recalculated.

[0047] In the examples above, application rate is a function of motor speed. However, it should be understood that, in other embodiments, application rate may be varied by other means, such as mechanical reconfiguration of the release assembly. For example, U.S. Utility Application Serial Number 18 / 476,721, entitled "Method and Apparatus used for Biological Control of Agricultural Pests," filed September 28, 2023, discloses an apparatus having an adjustable sleeve. Referring to the similar device illustrated in FIG. 1, the adjustable sleeve may be used to vary the size of the openings 142 in the rotatable dispersal tube 141, thereby varying the release rate of materials within the tube. In various embodiments of the present invention, a mechanism, in communication with the microcontroller, may be coupled to the adjustable sleeve, allowing reconfiguration of the sleeve during operation of the release assembly according to the rate modes discussed above.

[0048] In various embodiments, the microcontroller may further be connected to a writable storage medium, such as structured query language (SQL) database connected to the microcontroller via a digital network. This allows data regarding application, including application rate over time, to be logged and displayed to the user. Such log data may be stored in a form providing for convenient sharing among multiple users or third parties and may also be used to generate an “as-applied map” and / or otherwise processed to provide useful information.

[0049] FIG. 6 illustrates the flow of information according to one embodiment of the present invention. In this embodiment, a first release assembly is coupled to a first boom 601, and a second release assembly is coupled to a second boom 602. The weights of these two booms, including elements suspended therefrom, are measured by a plurality of weight sensors. Theweight of the first boom 601 is measured by a first weight sensor 611 and second weight sensor612. The weight of the second boom 602 is measured by a third weight sensor 613 and fourth weight sensor 614. In the embodiment illustrated by FIG. 6, the first and second weight sensors 611, 612 then output data to a first HX711 ADC 621, while the third and fourth weight sensors613, 614 output data to a second HX711 ADC 622. The first and second HX711 ADC 621, 622 transmit to a primary microcontroller 630. It should be understood, however, that other means of signal transmission may be substituted.

[0050] The primary microcontroller 630 then transmits instructions to a first boom motor 641, which powers and at least partially controls the intensity of the first release assembly unit 601, and a second boom motor 642, which powers and at least partially controls the intensity of the second release assembly unit 602.

[0051] Meanwhile, the primary microcontroller 630 may receive additional input from a GPS or other geolocation data receiver 631 and / or a data storage medium 632 such as a Secure Digital (SD) flash memory card reader. The GPS receiver 631 dynamically receives data related to the receiver’s current geolocation coordinates and transmits this data to the primary microcontroller 630, while the data storage medium 632 may contain a database of information related to a target area for dispersing biological agents.

[0052] In the embodiment of FIG. 6, the primary microcontroller 630 is in communication with an on-board transmitter / receiver unit 650, which may process information using its own microcontroller. The primary microcontroller 630 is also in communication with a secondary processor 633 with additional computational functions, which may include an operating system such as Linux. This secondary Linux processor 633 is configured to output data to a writable storage medium in the form of a structured query language (SQL) database 635. This SQLdatabase may be stored remotely, in which case the Linux processor may be coupled to a modem634, which in turn connects to the SQL database 635. The Linux processor 633 may also be configured to output data to the transmitter 650 microcontroller.

[0053] The on-board transmitter / receiver unit 650 connects remotely to a corresponding user transmitter / receiver unit 660. The user 600 may input commands and receive information by means of various user interfaces connected to the user-side transmitter / receiver 660 and associated microcontroller. For example, the user transmitter / receiver unit 660 may comprise a screen 661 or other means to display information. It may also be integrated with a local-hosted web user interface 662 or other means of communicating with users via a digital network. Meanwhile, users 600 may control operation of the first and second boom motors 641, 642 via the transmitter / receiver microcontroller 650. For example, user-side the transmitter / receiver unit 660 may include a mode switch 663, instructing the primary microcontroller 630 to vary motor speed according to one of the modes discussed above, as well as manual controls, such as a first boom motor on / off switch 664, first boom motor speed control 665, second boom motor on / off switch 666, and second boom motor speed control 667.

[0054] FIG. 7 illustrates a workflow of various processes executed by a processor configured according to the present invention. User input 701 is received via a user interface, such as a remote control unit. Such user input may be received in the form of a command string, including commands related to mode, motor on / off, motor speed, and desired rate. The processor then reads the user input command string 701 to determine certain variables 702 to be used in subsequent operations.

[0055] Further input is received from one or more weight sensors in the form of a weight reading 703, which the processor converts to a weight variable 704 for purposes of subsequentoperations. In various embodiments, input may also be received from information stored on a non-volatile data storage medium 705, such as a Secure Digital (SD) flash memory card, from which the processor may determine geographic variables, such as in the form of polygon areas 706 created on a geographic information system (GIS), which polygon areas may be predetermined by the user or may be generated by a software algorithm. The processor may also determine additional geographic variables 708 based on geolocation data 707, such as position, speed, and altitude, received from a GPS or other geolocation unit.

[0056] The processor executes a mode selection operation 710 determined by a user input variable 702. If manual mode 711 is selected, the processor will then transmit commands to either turn off the motor 731 or to operate the motor at a managed speed 732, wherein on / off and motor speed are determined by corresponding user input variables 702.

[0057] If rate mode 712 is selected, the processor will then either transmit a motor-off command 731 or execute a rate determination algorithm 733 using proportional-integral-derivative (PID) control mechanisms based on a desired rate and measured rate (e.g. weight per minute), wherein the desired rate is determined by a user input variable 702 and the measured rate is determined by weight variables 704. The processor then transmits a command to operate the motor at a managed speed 732, wherein the motor speed is determined by the rate determination algorithm 733.

[0058] If variable mode 713 is selected, the processor will then either transmit a motor-off command 731 or execute an area determination algorithm 734 in which geolocation variables 708 are compared to polygon area 706 data. If the area determination algorithm 734 results in a hazard area indication 735, the processor will then transmit a motor-off command 731. If the area determination algorithm 734 does not result in a hazard area indication 735 but results in avariable area indication 736, the processor executes a variable rate determination algorithm 737 to determine a desired rate for the variable area. The processor then executes the rate determination algorithm 733, based on the desired rate determined by the variable rate determination algorithm 737 and the measured rate is determined by weight variables 704 and transmits a motor-operation command 732 at the speed determined by the rate determination algorithm 733. If the area determination algorithm 734 does not result in a hazard area indication 735 or a variable area indication 736, the processor proceeds to execute the rate determination algorithm 733 based on desired rate determined by user input 702 and to transmit a motoroperation command 732, wherein the motor speed is determined by the rate determination algorithm 733.

[0059] The processor may transmit weight output data 740 to a user via the remote control unit or other user interface, from which a current weight measurement 741 and rate measurement (e.g. weight per minute) 742 may be calculated. The processor may also compile output data 750 in the form of a string combination comprising data such as drone (or other vehicle or device) identification number, device position, user input variables, weight variables, and geolocation variables. Such output data 750 may then be transmitted and written to a second data storage medium 751, such as a Structured Query Language (SQL) database hosted on a remote server.

[0060] Calculation and control of application rate using the present invention has a number of important advantages. It allows precise, steady application of biologicals at a prescribed rate. It eliminates the need for a user to constantly manipulate the speed of the motor, tube hole opening size, and vehicle speed to achieve a target rate, thereby making application of biological agents more precise, efficient, and overall user friendly. Embodiments featuring Variable Rate Mode have additional advantages, including the ability to automatically change rate based ongeolocation, which allows for the precise application of biocontrols at a prescribed rate for a given area. Among other advantageous use cases, this allows for more precise management of pest problems by addressing geo-located areas with higher pest pressure with higher rates of biological agents and vice versa. This allows for potentially significant savings in biological agents or the higher utilization of the same total amount of biologicals.

[0061] The application rate control system and methods disclosed herein may have utility in a number of industries having a need to disperse materials over a target area. In particular, it is suited to circumstances in which it is desirable to have an autonomous vehicle deposit payload materials at a controlled density across a geographic area. For example, there is great need in the agricultural industry for improved means of applying beneficial biological organisms and / or materials over crop fields in order to mitigate damage from pests. The term “biological agents,” as used herein, is to be understood broadly to refer to any payload intended to have a biological effect on the target area, while the term “materials” is to be understood broadly to refer to anything which might be contained in and released by a release assembly at a variable application rate, including living organisms.

[0062] A release assembly and other on-board components configured according to the system disclosed herein may be mounted on a variety of vehicles. The present disclosure focuses on embodiments directed towards use with unmanned aerial vehicles. However, other embodiments may be adapted for use with autonomous or non-autonomous ground vehicles, such as tractors.

[0063] Similarly, the present disclosure focuses on example embodiments featuring rotating-tube release assembly units. However, it should be understood that, in other embodiments, alternative release assembly solutions may be substituted, provided that such alternative release assembly solutions include a comparable means of varying application rate. For example, U.S. Patent No.11066167 also discloses a release assembly comprising an auger, wherein the auger urges biological agents contained within a hopper towards a dispensing port. In this embodiment, the speed at which the auger spins is correlated with the rate at which biological agents are released from the dispensing port. The application rate of such an auger-driven release assembly may therefore be controlled by the same system and methods disclosed herein.

[0064] Further, it should be understood that, whereas application rate is a function of motor speed in many of the embodiments discussed herein, application rate may also be varied by alternative means. In alternative embodiments of the present invention, the release assembly may be capable of mechanical reconfiguration, which mechanisms may be used to vary application rate. For example, U.S. Utility Application Serial Number 18 / 476,721 discloses a dispersion unit having a rotatable tube surrounded by an adjustable sleeve. This sleeve has openings corresponding to the plurality of openings 142 in the tube 141, and the two sets of openings form gaps when aligned or partially aligned, through which gaps materials from the inner cavity of the tube may pass. Rotating the sleeve relative to the tube varies the size of the gaps, thus varying the volume of materials able to pass during a given time and by extension the application rate. In certain embodiments of the present invention, a mechanical means of adjusting the sleeve could be connected to the primary microcontroller 130, such that, rather than maintaining / increasing / decreasing motor speed, as in blocks 805, 806, and 807 of FIG. 8, the aforementioned gaps could be widened if present application rate is below target or narrowed if present application rate is above target.

Claims

CLAIMSWhat is claimed is:

1. A system for applying payload materials to a target area, comprising:At least one release assembly unit comprising a container for holding the payload materials, wherein the release assembly unit is configured to release the payload materials and has a variable release rate;At least one weight sensor coupled to the release assembly unit, wherein the weight sensor is configured to measure the weight of the payload materials; andA microcontroller configured to receive input from the weight sensor and to control the release rate of the release assembly unit.

2. The system of claim 1, further comprising a plurality of release assembly units and a plurality of weight sensors.

3. The system of claim 1, further comprising:At least one boom, wherein the release assembly unit is suspended from the boom; andAt least one mounting bar configured for attachment to a vehicle, wherein the weight sensor is disposed between the boom and the mounting bar.

4. The system of claim 3, further comprising a plurality of booms, a plurality of release assembly units, and a plurality of weight sensors, wherein at least one release assembly unit is suspended from each boom.

5. The system of claim 1, further comprising a motor coupled to the release assembly unit, wherein the motor has a variable speed, the microcontroller is configured to control the speed ofthe motor, and the speed of the motor is correlated with the release rate of the release assembly unit.

6. The system of claim 1, further comprising a user interface unit configured to transmit data to and receive data from the microcontroller.

7. The system of claim 1, further comprising a geolocation receiver configured to transmit data to the microcontroller.

8. The system of claim 7, further comprising a data storage medium containing a database of location data and corresponding application rate data, wherein the microcontroller is configured to process the location data and application rate data from the data storage medium.

9. The system of claim 1, wherein the release assembly unit container is a rotatable container having a variable rotation speed and a plurality of openings through which the payload materials are released and wherein the rotation speed of the rotatable container is correlated with the release rate.

10. The system of claim 1, further comprising: a first plurality of openings in the release assembly unit container; an adjustable sleeve having a second plurality of openings and disposed proximate to the release unit container; a plurality of gaps through which the payload materials are released, wherein the plurality of gaps are formed by alignment or partial alignment of the first plurality of openings with the second plurality of openings, the size of the plurality of gaps is determined by the position of the adjustable sleeve, and the size of the plurality of gaps is correlated with the release rate.

11. The system of claim 10, further comprising a mechanism to change the position of the adjustable sleeve, wherein the mechanism is connected to the microcontroller.

12. A method for dispersing materials, the method comprising:Dispersing the materials by means of a dispersal device comprising a motor, a weight sensor, a microcontroller, and a container for holding the materials;Measuring a first weight of the container at a first point in time;Measuring a second weight of the container at a second point in time; andCalculating a first dispersal rate based on at least the difference between the first weight and the second weight.

13. The method of claim 12, further comprising:Changing the motor’ s speed;Measuring a third weight of the container at a third point in time; andCalculating a second dispersal rate based on at least one of the following: the difference between the first weight and the third weight or the difference between the second weight and the third weight.

14. The method of claim 12, further comprising:Inputting a target dispersal rate to the microcontroller;Comparing by the microcontroller of the target dispersal rate to the first dispersal rate; and Changing the motor’s speed by the microcontroller, wherein the motor’s speed is increased if the first dispersal rate is less than the target dispersal rate and decreased if the first dispersal rate is greater than the target dispersal rate.

15. The method of claim 14, further comprising:Measuring a third weight of the container at a third point in time; andCalculating a second dispersal rate based on at least one of the following: the difference between the first weight and the third weight or the difference between the second weight and the third weight.

16. The method of claim 12, wherein the dispersal device further comprises a geolocation data receiver and a data storage medium, the method further comprising:Storing variable rate data on the data storage medium, wherein the data comprises a plurality of target dispersal rates for a plurality of locations;Receiving a first geolocation input by the geolocation data receiver, wherein the first geolocation input comprises a first location of the dispersal device;Determining a first target dispersal rate for the first location by reference to the variable rate data;Comparing by the microcontroller of the first target dispersal rate to the first dispersal rate; andChanging the motor’s speed by the microcontroller, wherein the motor’s speed is increased if the first dispersal rate is less than the first target dispersal rate and decreased if the first dispersal rate is greater than the first target dispersal rate.

17. The method of claim 16, further comprising:Measuring a third weight of the container at a third point in time;Calculating a second dispersal rate based on at least one of the following: the difference between the first weight and the third weight or the difference between the second weight and the third weight.Receiving a second geolocation input by the geolocation data receiver, wherein the second geolocation input comprises a second location of the dispersal device;Determining a second target dispersal rate for the second location by reference to the data on the data storage medium;Comparing by the microcontroller of the second target dispersal rate to the second dispersal rate; andChanging the motor’s speed by the microcontroller, wherein the motor’s speed is increased if the second dispersal rate is less than the second target dispersal rate and decreased if the second dispersal rate is greater than the second target dispersal rate.

18. The method of claim 12, further comprising:Mounting the dispersal device on an unmanned vehicle; andTraversing over a target area with the unmanned vehicle.

19. The method of claim 12, wherein the materials comprise living organisms.

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