Agricultural robot refilling apparatus & system

Abstract

The present invention provides an agricultural robot refilling system designed to optimize the refilling process and ensure efficient operation in agricultural tasks. The system comprises an agricultural robot equipped with a payload receptacle configured to receive and hold a payload necessary for tasks such as planting, fertilizing, and spraying. A docking station is included, featuring a payload storage tank and a payload refilling assembly configured to transfer the payload from the storage tank to the agricultural robot. The system also includes a coupling arrangement that precisely aligns the payload refilling assembly with the payload receptacle, ensuring accurate and efficient refilling.

Description

[0001] Agricultural Robot Refilling Apparatus & System

[0002] TECHNICAL FIELD

[0003] [1] The present invention relates to the field of agricultural automation, specifically to an agricultural robot refilling apparatus and system.

[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] Agricultural robots have become increasingly important in modern farming due to their ability to increase efficiency, reduce labour costs, and perform tasks with high precision. However, one significant challenge remains: ensuring that these robots can be refilled with the necessary payloads, such as seeds, fertilizers, or pesticides, without significant downtime or human intervention.

[0007] [4] Traditionally, refilling agricultural robots has required manual intervention. When an agricultural robot's payload is depleted, it must either return to a central location or wait for a human operator to refill it. This process is time-consuming, reduces the agricultural robot's operational efficiency, and introduces delays that can impact the overall productivity of the farming operation.

[0008] [5] Several attempts have been made to address this issue by developing semiautomated refilling systems. These systems often involve stationary refill stations where agricultural robots can dock and be manually or semi-automatically refilled. While these solutions offer some improvements, they do not fully eliminate the need for human oversight and do not optimize the refilling process to the extent required for fully autonomous operation.

[0009] [6] Existing refilling solutions also lack flexibility and adaptability. They often require precise alignment and manual adjustments, which can be challenging in dynamic agricultural environments. Coupling issues are a common problem, where the agricultural robot may struggle to align correctly with the docking station, resulting in failed or inefficient refills. This misalignment can lead to spillage of materials, inefficient refilling, and additional downtime for adjustments. Moreover, the physical apparatus involved in current systems does not efficiently coordinate multiple agricultural robots, leading to potential congestion and further delays.

[0010] [7] Furthermore, current refilling mechanisms often involve rigid and static designs that are not suited to the varied and changing conditions of an agricultural environment. The requirement for manual alignment and the inability to dynamically adjust to the agricultural robot’s position and movement introduce inefficiencies and reduce the overall effectiveness of the system.

[0011] SUMMARY OF INVENTION

[0012] [8] In an aspect, the invention provides an agricultural robot refilling system, the system comprising: an agricultural robot comprising a payload receptacle configured to receive and hold a payload; a docking station comprising a payload storage tank and a payload refilling assembly configured to transfer the payload to the agricultural robot from the payload storage tank; and a coupling arrangement configured to align the payload refilling assembly with the payload receptacle for refilling the payload receptacle.

[0013] [9] Preferably, the coupling arrangement includes coupling sensors. The coupling sensors may provide real-time feedback to ensure secure and precise docking between the agricultural robot and the docking station.

[0014]

[0010] Preferably, the payload refilling assembly includes a payload storage tank configured to hold a supply of the payload to be transferred to the agricultural robot.

[0015]

[0011] Preferably, the payload refilling assembly includes a payload delivery system connected to the payload storage tank. Preferably, the payload delivery system comprises a pipe assembly arranged to deliver the payload to the agricultural robot. Preferably, the pipe assembly comprises a pipe and an outlet arranged to deliver the payload downward or from overhead into a receptacle of the agricultural robot.

[0016]

[0012] Preferably, the agricultural robot comprises a payload refill hopper connected to the payload receptacle.

[0017]

[0013] Preferably, the coupling arrangement comprises an alignment guide device to receive a portion of the pipe assembly. Preferably, the alignment guide is located adjacent an opening of the payload refill hopper of the agricultural robot.

[0018]

[0014] Preferably, the alignment guide comprises a pair of arms connected at respective first ends and forming an opening between spaced apart respective second ends. Preferably, the alignment guide is substantially V-shaped.

[0019]

[0015] Preferably, the alignment guide includes one or more sensors located at an end thereof. Preferably, the one or more sensors are located such that, in use, a portion of the pipe assembly abuts and / or activates the one or more sensors when the outlet of the payload refilling assembly is aligned with the opening of the payload refill hopper.

[0016] Preferably, the payload refilling assembly is configured to adjust the amount of payload transferred based on the remaining agricultural task to be completed by the agricultural robot.

[0020]

[0017] Preferably, the docking station's payload refilling assembly includes a flow meter to measure the amount of payload transferred to the agricultural robot.

[0021]

[0018] Preferably, the docking station includes a control system configured to perform a safety check before coupling with the agricultural robot to ensure proper alignment and secure connection.

[0022]

[0019] Preferably, the docking station includes a solar array to provide a renewable energy source for the refilling process.

[0023]

[0020] Preferably, the agricultural robot comprises a position tracker. Preferably, the position tracker includes a global positioning system (GPS) and, optionally, one or more sensors to determine the optimized path to the docking station.

[0024]

[0021] Preferably, the agricultural robot comprises a communications system. Preferably, the communications system is configured to initiate communication with the docking station upon approaching the refilling location to verify docking eligibility and prepare for coupling. The docking station is configured to accommodate multiple agricultural robots by coordinating a schedule for docking and refilling.

[0025]

[0022] Preferably, the docking station comprises a communication system. Preferably, the communications system of the docking station is configured with one or more wireless protocols, including Wi-Fi and Bluetooth, to communicate with the agricultural robot.

[0026]

[0023] Preferably, the agricultural robot includes a payload sensor or payload sensor array configured to detect and / or monitor the payload level in the payload receptacle and initiate a refill procedure when the payload level falls below a predefined threshold. Preferably, the payload sensor or payload sensor array comprises a level sensor. Additionally, or alternatively, the payload sensor is configured to detect that the payload is at a desired level based on a payload amount request and / or at a maximum threshold level. The agricultural may be programmed to communicate this detection to the docking station to cease a refill procedure.

[0027]

[0024] Preferably, the docking station includes an error handling system to execute a routine if communication with the agricultural robot fails, including retry attempts and alternative docking station selection. The docking station's control system is configured to dynamically adjust the optimized path based on real-time environmental conditions, including terrain, weather, and obstacles.

[0028]

[0025] In another aspect, the invention provides a method of refilling a payload of an agricultural robot, the method including: providing an agricultural robot with a payload receptacle configured to receive and hold a payload; providing a docking station with a payload storage tank and a payload refilling assembly configured to transfer the payload from the payload storage tank to the payload receptacle of the agricultural robot; aligning the payload refilling assembly with the payload receptacle using a coupling arrangement; transferring the payload from the payload storage tank to the payload receptacle of the agricultural robot through the aligned payload refilling assembly; and decoupling the agricultural robot from the docking station after the payload receptacle has been refilled. BRIEF DESCRIPTION OF THE DRAWINGS

[0029]

[0026] 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:

[0030] Figure 1 illustrates a system for refilling an agricultural robot’s payload receptacle according to an embodiment of the present invention;

[0031] Figure 2 illustrates the coupling arrangement connected to the agricultural robot receiving the pipe assembly to facilitate refilling of the payload;

[0032] Figure 3 illustrates a portion of the docking station and payload receptacle;

[0033] Figure 4 illustrates the coupling arrangement of the system; and

[0034] Figure 5 illustrates the overhead refilling arrangement and pipe assembly for providing a payload to an agricultural robot.

[0035] DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0036]

[0027] Figures 1 to 5 illustrate a system 10 for refilling a payload of an agricultural robot.

[0037]

[0028] The system 10 includes an agricultural robot 100 and a docking station 200 that are configured to facilitate the refilling process.

[0029] The agricultural robot 100 is designed to perform a range of agricultural tasks, such as planting, fertilizing, and spraying. It includes a payload receptacle 105 configured to hold the payload necessary to perform and complete these tasks.

[0038]

[0030] The payload may include one or more of a liquid material, such as a chemical or mixture of chemicals, a granular material, such as a grain, seed or dry fertiliser.

[0039]

[0031] The agricultural robot 100 may also be equipped with a position tracker 110 to monitor its location within the agricultural field and a communications system 115 to transmit a docking request and the current position of the agricultural robot to the docking station

[0040]

[0032] The docking station 200 is configured to couple to the agricultural robot 100 to deliver a payload. The docking station 200 includes a payload refilling assembly 205, which controls the transfer of the payload material from the docking station 200 to the payload receptacle 105 of the agricultural robot 100. The docking station 200 also includes a communications system 210 to coordinate with the agricultural robots 100, ensuring efficient refilling procedures.

[0041]

[0033] The payload refilling assembly 205 may include one or more control units, processors and / or pumps for controlling and transferring payload from the payload storage tank 220 to the pipe assembly 225.

[0042]

[0034] The system 10 also includes a coupling arrangement 300 configured to align the payload refilling assembly 205 with the payload receptacle 105 for refilling the payload receptacle.

[0043]

[0035] This coupling arrangement 300 is designed to address common issues such as alignment and secure connection, ensuring an efficient and clean refilling process.

[0036] The coupling arrangement 300 may include coupling sensors 305 that provide real-time feedback to ensure secure and precise docking between the agricultural robot and the docking station. These sensors can include proximity sensors to detect when the agricultural robot is close to the docking station, pressure sensors to confirm that the coupling mechanism is connected by measuring the force applied during the connection, and optical sensors such as infrared sensors to provide precise feedback on the alignment, ensuring that the coupling is accurate.

[0044]

[0037] The coupling sensors may be located on either, or both of, the docking station and the agricultural robot.

[0045]

[0038] The payload refilling assembly 205 of the docking station 200 is connected to a payload storage tank 220 configured to hold a supply of the payload to be transferred to the agricultural robot 100 and a payload delivery assembly connected to the payload storage tank 220. This storage tank 220 may be configured to hold large quantities of materials, to allow the docking station to service multiple agricultural robots before needing to be refilled itself.

[0046]

[0039] The tank 220 may be made from durable materials to withstand the harsh conditions of an agricultural environment, including severe weather events and temperatures.

[0047]

[0040] The payload delivery system may comprise a pipe assembly 225 arranged to deliver the payload to the agricultural robot 100.

[0048]

[0041] The pipe assembly 225 includes a pipe 230 and an outlet 235 arranged to deliver the payload downward or from overhead into the payload receptacle 105 of the agricultural robot 100. This design allows for the payload to be transferred efficiently between the docking station and the agricultural robot, and minimizes the risk of spillage.

[0042] The agricultural robot 100 may include a payload refill hopper 120 connected to the payload receptacle 105. This hopper acts as an intermediate storage receptacle and / or convenient payload transfer mechanism that provides a smooth transfer of the payload from the docking station to the payload receptacle.

[0049]

[0043] The coupling arrangement 300 may comprise an alignment guide 310 (shown in Figure 4) located on the agricultural robot 100 to receive a portion of the pipe assembly 225 of the docking station 200. The alignment guide 310 is preferably located adjacent to an opening of the payload refill hopper 120 of the agricultural robot 100.

[0050]

[0044] In the illustrated embodiment, the alignment guide 310 comprises a pair of arms 315, 320 connected at respective first ends and forming an opening between spaced-apart respective second ends, creating a substantially V-shaped structure. This V-shaped guide helps in precisely aligning the pipe assembly 225 with the opening of the payload refill hopper 120. However, the alignment guide may take a number of other forms.

[0051]

[0045] The alignment guide 310 includes the aforementioned sensors 305 located thereon. These sensors 305 are positioned such that a portion of the pipe assembly 225 abuts and / or activates the sensors when the outlet 235 of the payload refilling assembly is aligned with the opening of the payload refill hopper 120. The sensors 305 may be directly opposed on opposite sides of the alignment guide 310, as shown in Figure 4.

[0052]

[0046] These sensors can include contact sensors, pressure sensors or infrared sensors to detect the proximity and alignment of the pipe assembly.

[0053]

[0047] The payload refilling assembly may also include a control system configured to perform a safety check before coupling with the agricultural robot to ensure proper alignment and secure connection. The control system may be connected to the sensors of the coupling arrangement. This safety check involves verifying the alignment of the coupling mechanism and ensuring that all sensors indicate a secure connection before the refilling process begins. As an example, if the sensors 305 are not activated and / or become deactivated due to the portion of the pipe assembly 225 no longer abutting or otherwise activating the sensors, the docking station 200 is configured to cease dispensing payload material to the agricultural robot 100 to prevent spills.

[0054]

[0048] The docking station 200 may include a solar array 240 to provide a renewable energy source for the refilling process. This solar array allows the docking station to operate independently of external power sources, making it more versatile and environmentally friendly.

[0055]

[0049] The position tracker 110 of the agricultural robot 100 may include a global positioning system (GPS) and, optionally, one or more sensors to determine the optimized path to the docking station. These additional sensors can include inertial measurement units (IMlls) and LIDAR systems to enhance the accuracy of the navigation and coupling process.

[0056]

[0050] The communications system 210 of the docking station 200 may be configured to use one or more wireless protocols, including Wi-Fi and Bluetooth, to communicate with the agricultural robot 100. These wireless protocols ensure reliable and fast communication between the agricultural robot and the docking station.

[0057]

[0051] The agricultural robot 100 may include a payload sensor 125 or payload sensor array configured to detect and / or monitor the payload level in the payload receptacle and initiate a refill procedure when the payload level falls below a predefined threshold. These sensors can include capacitive level sensors or ultrasonic level sensors to provide accurate measurements of the payload level.

[0058]

[0052] In some embodiments, the payload sensor is configured to detect that the payload is at a desired level based on a payload amount request and / or at a maximum threshold level. The agricultural may be programmed to communicate this detection to the docking station to cease a refill procedure.

[0059]

[0053] The docking station 200 may also include an error handling system to execute a routine if communication with the agricultural robot fails. This routine includes retry attempts and alternative docking station selection to ensure that the agricultural robots can still receive a payload refill without significant delays.

[0060]

[0054] 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.

[0061]

[0055] 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.

[0062]

[0056] 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. An agricultural robot refilling system, the system comprising: an agricultural robot comprising a payload receptacle configured to receive and hold a payload; a docking station comprising a payload storage tank and a payload refilling assembly configured to transfer the payload to the agricultural robot from the payload storage tank; and a coupling arrangement configured to align the payload refilling assembly with the payload receptacle for refilling the payload receptacle.

2. The system of claim 1, wherein the payload refilling assembly includes a payload storage tank configured to hold a supply of the payload to be transferred to the agricultural robot.

3. The system of claim 2, wherein the payload refilling assembly includes a payload delivery system connected to the payload storage tank.

4. The system of claim 3, wherein the payload delivery system comprises a pipe assembly arranged to deliver the payload to the agricultural robot.

5. The system of claim 4, wherein the pipe assembly comprises a pipe and an outlet arranged to deliver the payload downward or from overhead into the payload receptacle of the agricultural robot.

6. The system of claim 5, wherein the agricultural robot comprises a payload refill hopper connected to the payload receptacle.

7. The system of any one of claims 1 to 6, wherein the coupling arrangement comprises an alignment guide device to receive a portion of the pipe assembly.

8. The system of claim 7, wherein the alignment guide is located adjacent an opening of the payload refill hopper of the agricultural robot.

9. The system of any one of claims 1 to 8, wherein the coupling arrangement includes coupling sensors configured to detect coupling between the payload refilling assembly and the payload receptacle.

10. The system of claim 7 or claim 8, wherein the alignment guide comprises a pair of arms connected at respective first ends and forming an opening between spaced apart respective second ends.

11. The system of claim 7, claim 8 or claim 10, wherein the alignment guide is substantially V-shaped.

12. The system of any one of claims 1 to 8, wherein the alignment guide includes one or more sensors located at an end thereof.

13. The system of claim 12, wherein: the agricultural robot comprises a payload refill hopper connected to the payload receptacle; the payload delivery system comprises a pipe assembly arranged to deliver the payload to the agricultural robot; and the alignment guide includes one or more sensors located at an end thereof and the one or more sensors are located such that, in use, a portion of the pipe assembly abuts and / or activates the one or more sensors when the outlet of the payload refilling assembly is aligned with the opening of the payload refill hopper.

14. The system of any one of claims 1 to 13, wherein the payload refilling assembly is configured to adjust the amount of payload transferred based on the remaining agricultural task to be completed by the agricultural robot.

15. The system of any one of claims 1 to 14, wherein the payload refilling assembly of the docking station includes a flow meter to measure the amount of payload transferred to the agricultural robot.

16. The system of any one of claims 1 to 15, wherein the docking station includes a control system configured to perform a safety check before coupling with the agricultural robot.

17. The system of any one of claims 1 to 16, wherein the docking station includes a solar array to provide a renewable energy source for the refilling process.

18. The system of any one of claims 1 to 17, wherein the agricultural robot comprises a position tracker.

19. The system of any one of claims 1 to 18, wherein the agricultural robot comprises a communications system, and the communications system is configured to initiate communication with the docking station upon approaching the refilling location to verify docking eligibility and prepare for coupling.

20. The system of any one of claims 1 to 19, wherein the docking station comprises a communication system and the communications system of the docking station is configured with one or more wireless protocols to communicate with the agricultural robot.

21. The system of any one of claims 1 to 20, wherein the agricultural robot includes a payload sensor or payload sensor array configured to detect and / or monitor the payload level in the payload receptacle and initiate a refill procedure when the payload level falls below a predefined threshold.

22. The system of any one of claims 1 to 21, wherein the payload sensor is configured to detect that the payload is at a desired level based on a payload amount request and / or at a maximum threshold level.

23. A method of refilling a payload of an agricultural robot, the method including: providing an agricultural robot with a payload receptacle configured to receive and hold a payload; providing a docking station with a payload storage tank and a payload refilling assembly configured to transfer the payload from the payload storage tank to the payload receptacle of the agricultural robot; aligning the payload refilling assembly with the payload receptacle using a coupling arrangement; transferring the payload from the payload storage tank to the payload receptacle of the agricultural robot through the aligned payload refilling assembly; and decoupling the agricultural robot from the docking station after the payload receptacle has been refilled.

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