System & method for autonomously refilling agricultural robots

Abstract

The present invention provides a system and method for autonomously refilling an agricultural robot engaged in an agricultural task. The method involves several steps to ensure efficient and uninterrupted operation. First, the payload level in the agricultural robot is detected. Based on this detected payload level and a set of operational parameters related to the agricultural task, an optimised location is determined from which the robot should proceed to a docking station. The agricultural robot then navigates to the docking station using an optimised path from the determined location. Upon approaching the docking station, the robot communicates with the docking station to verify docking eligibility and prepare for coupling. The robot then couples with the docking station and refills its payload. After refilling, the robot decouples from the docking station and resumes the agricultural task from the optimised location.

Description

[0001] System & Method for Autonomously Refilling Agricultural Robots

[0002] TECHNICAL FIELD

[0003] [1] The present invention relates to autonomous agricultural machinery, and more particularly, to a method and system for autonomously refilling agricultural robots with various payloads, such as seeds, fertilizers, pesticides, and other agricultural inputs. The invention enhances operational efficiency and minimizes downtime by automating the refilling process, allowing agricultural robots to operate continuously without human intervention.

[0004] BACKGROUND

[0005] [2] Any references to methods, apparatus or documents of the prior art are not to be taken as constituting any evidence or admission that they formed, or form part of the common general knowledge.

[0006] [3] Modern agriculture increasingly relies on automation and robotics to improve efficiency, reduce labour costs, and increase productivity. Autonomous agricultural robots are employed to perform a variety of tasks, including planting, weeding, spraying, and harvesting. These robots are typically equipped with payloads necessary fortheir specific tasks, such as seeds for planting or chemicals for spraying.

[0007] [4] Despite advancements in autonomous agricultural technology, one significant challenge remains: the refilling process. Current refilling methods generally require human intervention. When an agricultural robot depletes its payload, it must stop working and wait for a human operator to manually refill it. This process introduces delays and inefficiencies, reducing the overall productivity of the agricultural operation.

[0008] [5] Several attempts have been made to address this issue by developing semiautomated refilling systems. These systems often involve manually guided refilling trailers or stationary refill stations that still require some level of human oversight. While these solutions offer some improvements, they do not fully eliminate the need for human involvement, particularly in navigating the robot to the refill station and ensuring proper docking and refilling.

[0009] [6] The prior art includes various path planning and navigation algorithms, such as A* (A-star) algorithms, which are commonly used in robotics for determining optimal paths from one point to another. However, these algorithms typically do not consider the specific constraints and requirements of controlled traffic farming, where predefined lanes and paths must be adhered to for soil health and crop management.

[0010] [7] Moreover, existing refilling solutions often lack flexibility in handling different types of payloads and operational scenarios. For instance, if a robot runs out of payload in a location far from the refill station, it may need to stop and wait for assistance, resulting in further inefficiencies.

[0011] SUMMARY OF INVENTION

[0012] [8] In an aspect, the invention provides a method for autonomously refilling an agricultural robot completing an agricultural task, the method comprising: detecting a payload level in the agricultural robot; determining, based on the detected payload level and a set of operational parameters related to the agricultural task, an optimised location from which to proceed to a docking station; navigating to the docking station based on an optimised path from the optimised location; communicating with the docking station to verify docking eligibility and prepare for coupling; coupling the agricultural robot with the docking station; refilling the payload of the agricultural robot at the docking station; decoupling the agricultural robot from the docking station; and resuming the agricultural task with the agricultural robot from the optimised location.

[0013] [9] In another aspect, the invention provides a system for refilling a payload of an agricultural robot, the system comprising: one or more agricultural robots programmed to perform agricultural tasks, the one or more agricultural robots each including a payload receptacle with a payload therein; a position tracker; and a communications system to transmit a docking request and current position of the respective agricultural robot; and a docking station including a payload refilling assembly and a communications system to communicate with the agricultural robot and receive docking requests and current positions of one or more agricultural robots to coordinate a refilling procedure, operating the one or more agricultural robots to: detect a payload level; determine, based on the detected payload level and a set of operational parameters related to the agricultural task, an optimised location from which to proceed to a docking station; navigate, using the position tracker, to the docking station based on an optimised path from the optimised location; communicate, using the communications system, with the docking station to verify docking eligibility and prepare for coupling; couple with the docking station; decouple from the docking station; and resume the agricultural task from the optimised location, and operating the docking station to: communicate with the one or more agricultural robots to verify docking eligibility and coordinate a schedule for the one or more agricultural robots for docking; couple with one of the one or more agricultural robots based on the schedule; transfer the payload to the agricultural robot during the refilling procedure; and decouple from the agricultural robot after refilling.

[0014]

[0010] Preferably, the determining step includes calculating a remaining operational time based on the payload level and proximity to the refilling location.

[0015]

[0011] Preferably, the navigating step includes utilizing a global positioning system (GPS) and / or one or more sensors to determine the optimised path.

[0016]

[0012] Preferably, the coupling step includes performing a safety check to ensure proper alignment and secure connection between the agricultural robot and the docking station.

[0017]

[0013] Preferably, the refilling step includes determining a payload request to adjust an amount of payload requested from the docking station based on a remainder of the agricultural task to be completed.

[0014] Preferably, the method includes coordinating with multiple agricultural robots to prevent congestion and optimise refilling schedules.

[0018]

[0015] Preferably, the navigating step includes dynamically adjusting the optimised path based on real-time environmental conditions including one or more of terrain, weather, and obstacles.

[0019]

[0016] Preferably, the docking station comprises solar panels to provide a renewable energy source for refilling.

[0020]

[0017] Preferably, the method includes executing an error handling routine if the communication with the docking station fails.

[0021]

[0018] Preferably, the method includes coordinating with multiple agricultural robots to prevent congestion and optimise refilling schedules. Preferably, the method includes determining a schedule for multiple agricultural robots to couple to the docking station.

[0022]

[0019] Preferably, the communication with the docking station is performed using one or more of WiFi and Bluetooth.

[0023]

[0020] Preferably, the agricultural robot is configured to determine and transmit a payload request to the docking station. Preferably, the payload request includes payload parameters to instruct the docking station on how to prepare the payload for the agricultural robot.

[0024]

[0021] Preferably, the docking station communicates the payload request to the docking station.

[0025]

[0022] Preferably, the agricultural robot couples to the docking station via a coupling mechanism. Preferably, the coupling mechanism includes coupling sensors. The coupling sensors may provide real-time feedback to provide secure and precise docking between the agricultural robot and the docking station. BRIEF DESCRIPTION OF THE DRAWINGS

[0026]

[0023] Preferred features, embodiments and variations of the invention may be discerned from the following Detailed Description which provides sufficient information for those skilled in the art to perform the invention. The Detailed Description is not to be regarded as limiting the scope of the preceding Summary of the Invention in any way. The Detailed Description will make reference to a number of drawings as follows:

[0027] Figures 1 to 6 illustrate a system for autonomously refilling a payload of an agricultural robot according to an embodiment of the present invention;

[0028] Figure 7 illustrates a method for autonomously refilling a payload of an agricultural robot according to an embodiment of the present invention;

[0029] Figure 8 illustrates an agricultural robot of the system;

[0030] Figure 9 illustrates a docking station of the system; and

[0031] Figure 10 illustrates another method for autonomously refilling a payload of an agricultural robot according to an embodiment of the present invention.

[0032] DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0033]

[0024] Figures 1 to 9 illustrate a system 100 and method 700 for refilling a payload of one or more agricultural robots (hereinafter referred to as “the one or more agricultural robots” or “the agricultural robots”) completing an agricultural task.

[0034]

[0025] The agricultural task may be related to a specific or defined area.

[0035]

[0026] The system 100 comprises one or more agricultural robots programmed to perform various agricultural tasks such as, but not limited to, planting, fertilizing, and spraying.

[0027] In the illustrated embodiment, there are two agricultural robots, a first agricultural robot AR1 and a second agricultural robot AR2, deployed to two different fields F1 , F2. The agricultural robots may be generally and collectively referred to as agricultural robots AR throughout this disclosure. The robots are performing a preassigned agricultural task, such as delivering fertiliser to crops, relation to a defined area.

[0036]

[0028] Each agricultural robot AR is configured to traverse a predetermined path indicated by the dashed line PD.

[0037]

[0029] Each agricultural robot includes a payload receptacle 105 configured to hold the necessary materials (the payload) for these tasks.

[0038]

[0030] Additionally, each agricultural robot is equipped with a position tracker 110 to monitor its location within the agricultural field and a communications system 115 to transmit a docking request 120 and the current position 125 of the respective agricultural robot to a docking station DS.

[0039]

[0031] The position tracker 110 for an agricultural robot can take several forms. In some embodiments, the position tracker 100 may include a Global Positioning System (GPS) receiver to determine the precise location of the agricultural robot AR. The GPS receiver provides real-time positioning data with high accuracy and may be augmented with Differential GPS (DGPS) for even higher precision by correcting GPS signals using a network of fixed ground-based reference stations.

[0040]

[0032] Another form of position tracker is a sensor-based system, such as an Inertial Measurement Unit (IMU). An IMU may combine one or more of accelerometers, gyroscopes, and magnetometers to track the movement and orientation of the agricultural robot AR, and provide location data based on the movements of the agricultural robot AR. This may be useful in areas where GPS signals are weak or unavailable. Additionally, LIDAR (Light Detection and Ranging) technology can be used, which employs laser beams to create detailed 3D maps of the environment. This may be useful for identifying the location of the agricultural robot AR relative to its surroundings by matching real-time data with pre-existing maps. Ultrasonic sensors may also be used, utilizing sound waves to measure distances to nearby objects and aiding in obstacle detection and short-range navigation.

[0041]

[0033] In some embodiments, the position tracker takes the form of a vision-based position tracker including cameras and computer vision algorithms to analyse the surroundings of the agricultural robot AR, determining the location of the agricultural robot AR and navigating through the field.

[0042]

[0034] In another embodiment, an RF-based position tracker is provided. The RF- based position tracker, which uses Radio Frequency Identification (RFID) tags placed at known locations in the field. The agricultural robot AR reads these tags to determine its position relative to the tagged points.

[0043]

[0035] Some embodiments may include one or more of the above systems. Hybrid systems can combine multiple technologies to enhance accuracy and reliability. For example, a high-precision GPS receiver can be integrated with an IMU. The GPS provides the primary location data, while the IMU corrects for any short-term discrepancies caused by signal loss or interference. Additionally, a LIDAR system can be incorporated to enhance obstacle detection and mapping, ensuring the agricultural robot AR navigates safely and efficiently.

[0044]

[0036] The docking station DS in the system is placed within the agricultural field. This location could be selected to minimize the travel distance for the agricultural robots AR although is not necessary in all embodiments. The docking station DS includes a payload refilling assembly 130, which transfers the payload from the docking station DS to the agricultural robot AR payload receptacle 105. The docking station DS also includes a communications system 135 to coordinate with the agricultural robots AR, ensuring efficient refilling procedures. The docking station DS may further include solar panels to provide a renewable energy source for the refilling process.

[0045]

[0037] The operation of the system may include several coordinated steps between the agricultural robots AR and the docking station DS to ensure successful coupling and refilling. These steps are set out in Figure 7. In box 705, the agricultural robots AR continuously detect the level of payload within their respective receptacles. The agricultural robot AR may include a payload sensor 140 or payload sensor array configured to detect and / or monitor the payload level in the payload receptacle 105 and initiate a refill procedure when the payload level falls below a predefined threshold. In some embodiments, the payload sensor 140 or payload sensor array comprises a level sensor.

[0046]

[0038] The predefined threshold may be a fixed amount (for example, 20% remaining) or a dynamically adjusted amount based on operational parameters, such as rate of discharge, for example.

[0047]

[0039] In the illustrated embodiment, the agricultural robot AR detects that the payload level has reached the threshold and refill procedure will be required. The point in the task at which this is detected is indicated by the hexagon icon H.

[0048]

[0040] When the payload level falls below the predefined threshold, the agricultural robot AR initiates the refilling process at box 710 which includes determining an optimised location from which to proceed to the docking station DS. The optimised location may be within the defined area in which the agricultural robot AR is completing the task. This determination may be based on the detected payload level and a set of operational parameters related to the agricultural task, such as the remaining operational time for the task, the current position of the agricultural robot AR, and the proximity to the docking station DS.

[0049]

[0041] In Figures 1 through 6, the optimised location is indicated by star icon S for each respective agricultural robot.

[0050]

[0042] Once the optimised location is determined, the agricultural robot AR navigates to the docking station DS using its respective position tracker 110 at box 715. The navigation process may include calculating the most efficient path, and may include considering factors such as terrain, obstacles, and weather conditions. Preferably, this navigation utilizes the position tracker that may include a global positioning system (GPS) and one or more sensors for accuracy. This can be seen in Figure 3 where the agricultural robots AR have planned paths P1 , P2, respectively, to the docking station DS.

[0051]

[0043] As the agricultural robot AR approaches the docking station DS, communication between the docking station DS and the agricultural robot AR is established at box 720. The agricultural robot AR communicates with the docking station DS to verify docking eligibility and prepare for coupling. This communication step ensures that the docking station DS is ready to receive the agricultural robot AR and that all systems are prepared for a smooth and efficient coupling process. The agricultural robot AR will transmit a payload request to the docking station DS so that the docking station DS can take steps to ensure the payload is ready for delivery to the agricultural robot AR. Upon receipt of the payload request, the docking station DS may measure, weigh, mix and / or inject the payload according to the parameters of the payload request.

[0052]

[0044] This communication is performed by the respective communications systems 115, 135 of the agricultural robots AR and the docking station DS which include one or more wireless protocols, such as Wi-Fi and Bluetooth, for example.

[0045] In instances where the docking station DS receives communications from multiple agricultural robots AR, over a period of time where the agricultural robots AR arrival at and coupling with the docking station DS would cause a conflict, the docking station DS may coordinate a schedule for the one or more agricultural robots AR for docking. The schedule may include scheduling coupling for each agricultural robot AR1 , AR2 with the docking station DS in a sequence. The sequence may be determined based on expected arrival at the docking station DS or urgency of a task.

[0053]

[0046] If multiple agricultural robots AR are seeking a refill across a similar time, one agricultural robot (first agricultural robot AR1 , for example) will be approved for coupling while the remaining agricultural robots (second agricultural robot AR2) will wait for approval to couple to the docking at station at box 722. The wait procedure may be implemented by way of a wait signal transmitted to the agricultural robot or the agricultural robot may be programmed not to proceed to attempt coupling until an approval signal is transmitted thereto.

[0054]

[0047] The next step involves coupling the agricultural robot AR with the docking station DS at box 725. This step includes performing a safety check to ensure proper alignment and secure connection between the agricultural robot and the docking station.

[0055]

[0048] The agricultural robot AR may couple with the docking station DS by way of a coupling mechanism. The coupling mechanism may include sensors that provide realtime feedback to one or both of the agricultural robot AR and the docking station DS to ensure secure and precise docking. For example, if it is detected that the coupling has not been successful, an error signal may be issued or an instruction to re-attempt coupling. As another example, the coupling mechanism may include sensors that are activated when coupling has been successfully completed.

[0049] In Figure 4, the first agricultural robot AR1 will reach the docking station DS first and therefore receives priority in the schedule. The second agricultural robot AR2 was projected to arrive at the docking station DS after the first agricultural robot AR1 and therefore is queued in the schedule and receives a command to wait until the first agricultural robot AR1 has completed the refill procedure. The agricultural robots AR may also, or alternatively, be programmed to not approach the docking station DS for coupling therewith until receipt of a confirmation signal is received from the docking station DS.

[0056]

[0050] Once coupled, the docking station DS proceeds to refill the payload of the agricultural robot AR at box 730. The refilling step involves transferring the required amount of payload from the docking station DS to the agricultural robot's AR payload receptacle 105. The agricultural robot AR determines a payload request based on the level of the payload in the payload receptacle 105 and the remainder of the agricultural task to be completed, ensuring that the agricultural robot receives the necessary materials to continue its work efficiently. This can be seen in Figures 4 and 5.

[0057]

[0051] After refilling, the agricultural robot AR decouples from the docking station DS at box 735. This decoupling process is carefully controlled to ensure that the agricultural robot AR can safely disengage from the docking station and resume its tasks without any issues.

[0058]

[0052] Finally, the agricultural robot AR resumes the agricultural task from the optimised location, continuing its task from the point it left off (the optimised location), at box 740. This can provide high operational efficiency and minimal downtime.

[0059]

[0053] In the illustrated embodiment, the first agricultural robot AR1 completes refilling of the payload and decouples from the docking station DS before returning to the optimised location in its field F1 to resume its task along path PD’ seen in Figures 5 and 6. At the same time, the second agricultural robot AR2 receives confirmation that it may now couple with the docking station DS for refilling (see Figure 5). Upon completion of the refill, the second agricultural robot AR2 decouples from the docking station DS before returning to the optimised location in its field F2 to resume its task along path PD’ seen in Figures 5 and 6.

[0060]

[0054] The system may enhance efficiency and reliability of payload deployment and refill. The system may coordinate with multiple agricultural robots to prevent congestion and optimise refilling schedules. This coordination can ensure that multiple agricultural robots can efficiently share docking stations without unnecessary delays and prevent collisions and conflicts at the docking station.

[0061]

[0055] In some embodiments, the agricultural robot dynamically adjusts the optimised path based on real-time environmental conditions, including terrain, weather, and obstacles. This adaptability ensures that the agricultural robots can navigate efficiently under varying conditions.

[0062]

[0056] In cases where communication with the docking station fails, the system may include an error handling routine. This routine may include retry attempts and alternative docking station selection to ensure that the agricultural robots can still receive a payload refill without significant delays.

[0063]

[0057] Turning to Figure 10, an embodiment of a method for refilling a payload of an agricultural robot is shown. The method is described below.

[0064]

[0058] Box 1005 - User Selects Refill Payload Behaviour

[0065]

[0059] The user sets the preferred refill behaviour for the agricultural robot. Options may include refilling at the next headland, stopping in a specific zone, or proceeding directly to a designated point in the field.

[0066]

[0060] Box 1010 - Agricultural Robot Sprays Until Payload Depletion

[0061] The agricultural robot continues its spraying task until it runs out of payload. It remembers the user-set preference for where to stop for refilling, which could be the next headland, stopping in a zone, or going to a specific point.

[0067]

[0062] Box 1015 - Robot Decides Refill Point

[0068]

[0063] Based on the user-set preferences, the agricultural robot determines the optimal end of the field to refill, minimizing wasted traveling time. This decision is based on the robot's current location and the field's layout to optimise travel distance and reduce unnecessary movement.

[0069]

[0064] Box 1020 - Plans Path to Selected Dock Station

[0070]

[0065] Upon depletion of the payload, the robot sprays until it reaches the correct end of the field. It then plans a path back to the selected docking station. This path is optimised to minimize travel time and ensure efficient movement to the dock.

[0071]

[0066] Box 1025 - Robot Traverses to Dock

[0072]

[0067] The agricultural robot navigates to the docking station, following the optimised path. The robot's position tracker, which includes GPS and other sensors, ensures accurate navigation to the docking station.

[0073]

[0068] Box 1030 - Communication with Docking Station

[0074]

[0069] As the robot approaches within Wi-Fi range of the docking station, it initiates communication and requests entry. The docking station's communications system, which utilizes wireless protocols like Wi-Fi and Bluetooth, facilitates this interaction.

[0075]

[0070] Docking Station Response

[0076]

[0071] If the entry is declined at Box 1035a, the robot waits for further instructions at Box 1040a.

[0077]

[0072] Boxes 1035, 1040 - Coupling and Refilling Process

[0073] The docking station either accepts or declines the entry request. In Box 1035, if the entry is accepted, the robot proceeds to the docking station and couples for refilling. The agricultural robot enters the docking station and securely couples with it at Box 1040. The coupling arrangement includes sensors that provide real-time feedback to ensure proper alignment and connection. The alignment guide, with its V- shaped design and sensors, aids in aligning the pipe assembly with the robot's payload refill hopper.

[0078]

[0074] Box 1045 - Pay load Transfer

[0079]

[0075] The docking station transfers the requested payload to the agricultural robot. The payload refilling assembly, which includes a storage tank, a pipe assembly, and a flow meter, ensures accurate and efficient transfer of materials. The flow meter measures the amount of payload transferred to ensure precise refilling.

[0080]

[0076] Box 1050 - Robot Resumes Work

[0081]

[0077] After the refilling process is complete, the agricultural robot decouples from the docking station and returns to its designated task area. The agricultural robot resumes its agricultural operations from the optimised location, ensuring a seamless continuation of work.

[0082]

[0078] By providing a method and system for autonomously refilling agricultural robots, embodiments of the invention enhance the efficiency and effectiveness of agricultural operations. The autonomous refilling process can reduce downtime, optimise resource usage, and allow agricultural robots to operate continuously with minimal human intervention.

[0083]

[0079] The present invention addresses shortcomings of existing system by introducing a fully autonomous docking and refilling method for agricultural robots. Embodiments of the method enable robots to detect when they need a refill, decide the optimal time and location for refilling, navigate autonomously to a docking station, and perform the refilling process without any human intervention. Embodiments of the system significantly enhance operational efficiency, allowing agricultural robots to work continuously and more effectively.

[0084]

[0080] Aspects of the disclosure provide the following advantages.

[0085]

[0081] The system continuously monitors the payload level of the agricultural robot and detects when it is depleted or nearing depletion.

[0086]

[0082] An algorithm determines the optimal time and location for refilling based on various operational parameters, such as the current task, proximity to the docking station, and remaining operational time.

[0087]

[0083] The robot navigates to the docking station using an optimised path that takes into account the constraints of controlled traffic farming.

[0088]

[0084] Upon nearing the docking station, the robot initiates communication to verify docking eligibility and prepare for coupling.

[0089]

[0085] The robot securely couples with the docking station, and the payload is refilled according to predefined specifications or parameters.

[0090]

[0086] After refilling, the robot decouples from the docking station and resumes its agricultural tasks without delay.

[0091]

[0087] By automating the entire refilling process, the present invention eliminates the need for human intervention, reduces downtime, and maximizes the operational efficiency of agricultural robots. This system is flexible and adaptable to various agricultural applications, paving the way for more advanced and autonomous farming practices.

[0092]

[0088] In compliance with the statute, the invention has been described in language more or less specific to structural or methodical features. The term “comprises” and its variations, such as “comprising” and “comprised of” is used throughout in an inclusive sense and not to the exclusion of any additional features.

[0093]

[0089] It is to be understood that the invention is not limited to specific features shown or described since the means herein described comprises preferred forms of putting the invention into effect.

[0094]

[0090] The invention is, therefore, claimed in any of its forms or modifications within the proper scope of the appended claims appropriately interpreted by those skilled in the art.

Claims

CLAIMS1. A method for autonomously refilling an agricultural robot completing an agricultural task, the method comprising: detecting a payload level in the agricultural robot; determining, based on the detected payload level and a set of operational parameters related to the agricultural task, an optimised location from which to proceed to a docking station; navigating to the docking station based on an optimised path from the optimised location; communicating with the docking station to verify docking eligibility and prepare for coupling; coupling the agricultural robot with the docking station; refilling the payload of the agricultural robot at the docking station; decoupling the agricultural robot from the docking station; and resuming the agricultural task with the agricultural robot from the optimised location.

2. The method of claim 1 , wherein the determining step includes calculating a remaining operational time based on the payload level and proximity to the refilling location.

3. The method of claim 1 or claim 2, wherein the navigating step includes determining the optimised path from a global positioning system (GPS) and / or one or more sensors.

4. The method of any one of claims 1 to 3, wherein the coupling step includes performing a safety check to ensure proper alignment and secure connection between the agricultural robot and the docking station.

5. The method of any one of claims 1 to 4, wherein the refilling step includes determining a payload request to adjust an amount of payload requested from the docking station based on a remainder of the agricultural task to be completed.

6. The method of any one of claims 1 to 5, wherein the method includes coordinating with multiple agricultural robots to prevent congestion and optimise refilling schedules.

7. The method of any one of claims 1 to 6, wherein the navigating step includes dynamically adjusting the optimised path based on real-time environmental conditions including one or more of terrain, weather, and obstacles.

8. The method of any one of claims 1 to 7, wherein the method includes executing an error handling routine in response to a failure of the communication of the agricultural robot with the docking station.

9. The method of any one of claims 1 to 8, wherein the method includes coordinating with multiple agricultural robots to prevent congestion and optimise refilling schedules.

10. The method of claim 9, wherein the method includes determining a schedule for multiple agricultural robots to couple to the docking station.

11. The method of any one of claims 1 to 10, wherein the communication with the docking station is performed using one or more of Wi-Fi and Bluetooth.

12. The method of any one of claims 1 to 11 , wherein the agricultural robot is configured to determine and transmit a payload request to the docking station.

13. The method of claim 12, wherein the payload request includes payload parameters to instruct the docking station on how to prepare the payload for the agricultural robot.

14. The method of claim 13, wherein the docking station communicates the payload request to the docking station.

15. The method of any one of claims 1 to 14, wherein the agricultural robot couples to the docking station via a coupling mechanism.

16. The method of claim 15, wherein the coupling mechanism includes coupling sensors17. The method of any one of claims 1 to 16, wherein the docking station comprises solar panels to provide a renewable energy source for refilling.

18. A system for refilling a payload of an agricultural robot, the system comprising: one or more agricultural robots programmed to perform agricultural tasks, the one or more agricultural robots each including a payload receptacle with a payload therein; a position tracker; and a communications system to transmit a docking request and current position of the respective agricultural robot; and a docking station including a payload refilling assembly and a communications system to communicate with the agricultural robot and receive docking requests and current positions of one or more agricultural robots to coordinate a refilling procedure, operating the one or more agricultural robots to: detect a payload level; determine, based on the detected payload level and a set of operational parameters related to the agricultural task, an optimised location from which to proceed to a docking station; navigate, using the position tracker, to the docking station based on an optimised path from the optimised location; communicate, using the communications system, with the docking station to verify docking eligibility and prepare for coupling;couple with the docking station; decouple from the docking station; and resume the agricultural task from the optimised location, and operating the docking station to: communicate with the one or more agricultural robots to verify docking eligibility and coordinate a schedule for the one or more agricultural robots for docking; couple with one of the one or more agricultural robots based on the schedule; transfer the payload to the agricultural robot during the refilling procedure; and decouple from the agricultural robot after refilling.

Images