Granular material dispensing system

Abstract

The present disclosure concerns a dispensing system for dispersing granular material. The dispensing system can mount to a carrier, and includes mounting means to detachably secure the system to the attachment interface of the carrier, a holding cavity to hold granular material, a conduit housing to receive and evacuate material delivered from the frame outlet there through, and a lift assembly configured to deliver granular material being held in the holding cavity to a frame outlet and to drop the material into the conduit housing and reach the chute, and thus exit the dispensing system. The lift assembly can include a roller chain assembly having scoops configured to continuously and sequentially pick up and deliver the material the conduit housing.

Description

GRANULAR MATERIAL DISPENSING SYSTEMTECHNICAL FIELD

[0001] The technical field of the present disclosure generally relates to a detachable material dispensing system for drones or other remotely controlled vehicles. In particular, the dispensing system can be used to disperse granules such as seedpods.BACKGROUND ART

[0002] Many reforestation efforts have been made in an attempt to at least partially restore the original landscape of forests that have been depleted or damaged because of human logging, wildfires, invasive species, or climate change. However, the regeneration of the damaged forests ecosystems remains challenging for several reasons. For example, tree planting is a difficult and labour-intensive venture considering the number of saplings and / or seeds that must the planted or sowed to match the rate of recession of the forest ecosystems and the remote nature of some deforested areas. Moreover, farmland can face similar challenges with regard to targeted sowing and seeding. The inconsistent likelihood of successful germination can also pose a challenge.

[0003] Considering the disparity in deforestation and reforestation, and the ever- increasing impacts of climate change, there exists a need for a fast, adaptable, accurate, and precise system to dispense and disperse seeds.

[0004] Drones and other automated vehicles offer an alternative to manual tree and seed planting in order to reach the remote, extensive and sometimes hazardous targeted regeneration zones to carry out reforestation operations. Existing unmanned vehicles offer a range, versatility and precision that can meet these challenges as carriers for a dispensing system that meets some of these issues.BRIEF SUMMARY

[0005] In accordance with a first broad aspect, there is provided a dispensing system for dispersing granular material, the dispensing system being mountable to a drone or transport vehicle, the dispensing system comprising: a frame defining a holding cavity configured to hold granules, and comprising a frame aperture defined in a lower portion thereof and a frame outlet defined in an upper portion thereof; a conduit housing projectingoutwardly from the frame, and comprising an evacuation aperture at a bottom end thereof for evacuating at least one of the granules received from the holding cavity, a housing inlet defined in an upper portion thereof for receiving the at least one of the granules from the holding cavity and a housing aperture defined in a lower portion thereof; a lift assembly operatively connected to the holding cavity and the conduit housing, the lift assembly comprising: a rotatable loop comprising a first portion extending within the conduit housing and a second portion extending within the holding cavity, and extending through the frame aperture, the housing aperture, the frame outlet and the housing inlet; at least one granule holding body projecting from the rotatable loop and being configured to hold the at least one of the granules; and an electric motor operatively coupled to the rotatable loop to rotate the loop and thereby trigger an upward motion of the at least one granule holding body to position the at least one of the granules thereon and deliver the at least one of the granules into the conduit housing in order to evacuate the at least one of the granules via the evacuation aperture, wherein at least one of the frame and the conduit housing is mountable to the drone or transport vehicle.

[0006] In some embodiments, the frame aperture and the housing aperture are sized and shaped so as to allow the rotatable loop and the at least one granule holding body to pass therethrough from the conduit housing into the holding cavity while preventing the granules to therethrough from the holding cavity into the conduit housing.

[0007] In some embodiments, the dispensing system further comprises at least one brush comprising bristles positioned relative to the frame aperture and the housing aperture so as to prevent the granules from passing from the holding cavity into the conduit housing.

[0008] In some embodiments, the frame outlet comprises a first opening defined at the top of the frame and the housing inlet comprises a second opening defined at the top of the conduit housing.

[0009] In some embodiments, the frame outlet comprises a first aperture defined in an upper portion of the frame and the housing inlet comprises a second aperture defined in an upper portion of the conduit housing, the first aperture communicating with the second aperture and the first and second apertures being shaped and sized to allow the rotatableloop, the at least one granule holding body and the at least one of the granules to pass therethrough.

[0010] In some embodiments, a junction wall between the frame and the conduit housing comprises a recess at a top portion thereof, the recess corresponding to both the frame outlet and the housing inlet, the recess being shaped and sized to allow the rotatable loop, the at least one granule holding body and the at least one of the granules to pass therethrough.

[0011] In some embodiments, the rotatable loop comprises a first wheel, a second wheel and an endless belt operatively mounted to the first and second wheels, the electric motor being operatively coupled to at least one of the first and second wheels and the at least one granule holding body projecting from the endless belt.

[0012] In some embodiments, the first wheel comprises a first gearwheel, the second wheel comprises a second gearwheel and the endless belt comprises a roller chain having a plurality of links configured to engage the first and second gearwheels, the at least one granule holding body projecting from one of the links.

[0013] In some embodiments, the first and second gearwheels are mounted to the conduit housing, the first gearwheel being arranged so that a section of an outer lip thereof extends in or adjacently the holding cavity and the second gearwheel being arranged so that a section of an outer lip thereof extends in or adjacently the holding cavity.

[0014] In some embodiments, the frame is a hopper frame tapering downwardly to a bottom end portion thereof.

[0015] In some embodiments, the conduit housing comprises a chute provided with the evacuation aperture.

[0016] In some embodiments, the chute has a funnel-shape that tapers towards the bottom opening.

[0017] In some embodiments, the holding cavity has a shape of half of an inverted frustum, wherein a top wall and the bottom end portion of the frame respectively correspond to a base and a truncated end of the half-inverted frustum shape.

[0018] In some embodiments, the dispensing system further comprises mounting means, the mounting means comprising attachment apertures defined in an uppermost portion of the frame, the attachment apertures being configured for at least one respective support rod to be insertable therein.

[0019] In some embodiments, the conduit housing has an elongated cuboid-shaped primary housing portion having a rear surface fixed to the front wall of the frame, wherein the primary housing portion partially houses the lift assembly, and wherein the chute is fluidly connected under the primary housing portion.

[0020] In some embodiments, the primary housing portion of the conduit housing has a front surface, opposite the rear surface, and lateral surfaces, and wherein at least one of the front and lateral surfaces define slits.

[0021] In some embodiments, the second portion of the rotatable loop extends alongside an inner surface of a wall separating the holding cavity from the conduit housing.

[0022] In some embodiments, the lift assembly further comprises a track disposed along the inner surface of the wall separating the holding cavity from the conduit housing and further arranged in-line with the second portion of the rotatable loop, and wherein the track is configured to engageably support the second portion of the rotatable loop translating in the holding cavity.

[0023] In some embodiments, the dispensing system further comprises tensioning means mounted to the conduit housing and engageable with the rotatable loop, the tensioning means being configured to adjust a tension of the rotatable loop, and wherein the tensioning means comprise a spring tensioner.

[0024] In some embodiments, the at least one granule holding body comprises at least one cleat.

[0025] In some embodiments, the at least one granule holding body is provided with an inwardly curved shape configured for receiving the at least one of the granules therein.

[0026] In some embodiments, the dispensing system further comprises a position sensor operatively connected to the motor and configured to detect a current overload set-point of the motor in accordance with preset specifications of the motor, and wherein the dispensing system further comprises a position controller operatively connected to the position sensor, and configured for at least one of: issuing a warning signal upon detection of the overload set-point to inform a user of the dispensing system of a corrective action to be performed; and deactivating the motor upon detection of the overload set-point, wherein the position controller is operatively connected to the motor.

[0027] In some embodiments, the dispensing system further comprises a granular material sensor configured to monitor the evacuation aperture and to collect data regarding given ones of the granules exiting the dispensing system through the bottom opening, and wherein the dispensing system further comprises a position controller operatively connected to the granular material sensor and the motor, and configured to: generate information on a state of the dispensing system regarding the collected data; determine that a granular material threshold event has occurred; issue a signal based on the determination to inform a user of the system of a corrective action to be performed; and deactivate the motor based on the determination.

[0028] In some embodiments, the drone or transport vehicle is provided with a directional motion sensor configured to collect movement dynamics data, and wherein the dispensing system further comprises a motor controller operatively connected to the motor of the dispensing system and the directional motion sensor of the drone or transport vehicle.

[0029] In some embodiments, the dispensing system further comprises a directional motion sensor configured to collect movement dynamics data and a motor controller operatively connected to the motor and the directional motion sensor.

[0030] In some embodiments, the motor controller is configured to: perform an analysis of the movement dynamics data, the result of the analysis including a horizontal velocity indicator of the dispensing system with respect to a ground; determine a target rotation speed of the motor based on the horizontal velocity indicator; and adjust a motor current of the motor based on the target rotation speed of the motor to control a rotation speed of the gearwheels.

[0031] In some embodiments, the motor controller is further configured such that the target rotation speed of the motor is proportional to the horizontal velocity indicator.

[0032] In accordance with another broad aspect, there is provided a dispensing system for dispersing granular material, the dispensing system being mountable to a drone or transport vehicle, the dispensing system comprising: a frame, defining a holding cavity configured to hold granular material, and having walls, including a front wall, the frame having a frame inlet and outlet respectively defined in a lower portion and an upper portion of the front wall; a conduit housing projecting outwardly from the front wall of the frame, at least partially covering the frame inlet, including a chute having a bottom opening, the conduit housing being configured to receive and evacuate granular material; a lift assembly operatively connected to the holding cavity of the frame and the conduit housing, and configured to bring granular material being held in the holding cavity to the frame outlet to deliver into the conduit housing and reach the chute, and thus exit the dispensing system; and mounting means connected to one of the frame and the conduit housing and configured to detachably secure the dispensing system to the attachment interface of the drone or transport vehicle.

[0033] In some embodiments, the lift assembly includes any one of: an auger mechanism, a conveyor belt system, a bucket elevator, and any combination thereof.BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings illustrate an embodiment of the present invention and, together with the description, serve to explain the principles of the present disclosure.

[0035] FIG. 1 is a left side elevation view of a dispensing system including mounting means with support rods, a frame defining a holding cavity, a conduit housing, and a lift assembly, according to an embodiment;

[0036] FIG. 2 is a front elevation view of the dispensing system shown in FIG. 1, showing turning axes of gearwheels of the lift assembly;

[0037] FIG. 3 is an enlarged cross-sectional view of the dispensing system shown in FIG. 1, taken along cross-section line A-A of FIG. 2, showing a rotational direction of the lift assembly; and

[0038] FIG. 4 is a top plan view of the dispensing system shown in FIG. 1.

[0039] It is understood that the drawings are for illustration purposes only and may not be to scale. The drawings are intended to depict only a typical embodiment according to the disclosure and therefore should not be considered as limiting.DETAILED DESCRIPTION

[0040] The present disclosure describes a dispensing system or apparatus for dispersing granules or granular material, for example over an agricultural or reforestation ground. The granular material or granules can include seeds and / or natural or artificial seed pods that can be dispensed by the system, and if the system is carried, dispersed over the ground as part of a reforestation or revegetation effort. For illustrative purposes, the dispensing system will be described in the context of seed material, and more specifically granules or seed pods, which can be particularly well-suited for the described dispersing mechanism as explained in more details below.

[0041] It is appreciated that when designing an accessory for a drone, also known as an unmanned aerial vehicle (UAV), or transport vehicle (i.e., a carrier of the system), a system’s weight and footprint are significant considerations. For instance, additional weight consequently reduces the operational range of the carrier and thus a relatively lightweight design, such as the one described herein in some embodiments, is desirable. Similarly, a compact design may be desirable to avoid collisions or other interference with components of the carrier, such as propellers, tracks or wheels, as applicable. Moreover, some embodiments consider the aerodynamics of the dispensing system which can also improve a travel range of the carrier. The person skilled in the art would appreciate that shapes and interconnections of the components of the dispensing system, as explained in more details below, are arranged in view of these considerations.

[0042] It is appreciated that the dispensing system can be used in combination with a drone or any other type of transport carrier provided that the drone and carrier offer a suitable attachment interface. Also, for illustrative purposes, the dispensing system will be described in combination with a drone aircraft, which can remotely receive flight instructions or follow a pre-programmed flight for a dispensing mission. This said, apart from some functionalities specifically described in more details below in relation to amotion sensor, the dispensing system can be functionally secured to a ground transport vehicle. Again, and unless indicated otherwise, the system will be described herein with respect to a drone, but the person skilled in the art would understand the adaptations required to operate the dispensing system with an unmanned tracked vehicle, for example.

[0043] In some non-limiting implementations, the dispensing system comprises a frame defining an internal or holding cavity for receiving granules to be dispensed, a hollow or conduit housing projecting from the internal cavity and comprising an evacuation aperture for evacuating granules from the dispensing system, a lift assembly for transferring granules from the internal cavity of the frame into the conduit housing. At least one of the frame and the conduit housing is permanently or removably securable to the drone or transport vehicle. For example, the dispensing system may comprise mounting means for removably mounting the dispensing system to the drone or transport vehicle.

[0044] The frame comprises at least a front wall, a rear wall, a bottom wall and two side walls. In this case, the frame is provided with a top opening which may be covered with a cover for enclosing the granules into the frame. In some implementations, the frame may further comprise a top wall and in this case, the frame is provided with at least one aperture for inserting granules into the holding cavity.

[0045] The frame is provided with a frame aperture defined in a lower portion thereof. The frame aperture may extend in the bottom wall and / or in a lower section of the front wall. The frame further comprises an outlet defined in an upper portion thereof for allowing granules to be transferred from the holding cavity into the conduit housing.

[0046] The conduit housing defines an internal cavity or enclosure and comprises a front wall, a rear wall mounted to the front wall of the frame, two side walls and a bottom wall. In this case, the conduit housing is provided with a top opening which may be covered with a cover. In some implementations, the front wall of the frame and the rear wall of the conduit housing are integral to form a junction wall separating the frame from the conduit housing. It should be understood that the junction wall may be considered as belonging to the frame, or to the conduit housing or to both.

[0047] The evacuation aperture may be located on the bottom wall of the conduit housing. The conduit housing also comprises a housing inlet defined in an upper portion thereof for receiving granules from the frame and a housing aperture defined in a lower portion thereof. The housing aperture may extend in the bottom wall and / or in a lower section of the back wall of the conduit aperture.

[0048] In some non-limiting implementations, the lift assembly comprises a rotatable loop, at least one granule holding body, and an electric motor operatively connected to the rotatable loop for rotating the loop. The rotatable loop comprises a first portion that extends within the conduit housing and a second portion that extends within the frame. The rotatable loop also extends through the frame aperture, the housing aperture, the frame outlet and the housing inlet so that the rotatable loop may continuously extend between the conduit housing and the frame both at a lower section of the system and at an upper section of the system.

[0049] It will understood that the position and / or shape of the frame aperture, the housing aperture, the frame outlet and the housing inlet may vary as long as the that the rotatable loop may continuously extend between the conduit housing and the frame both at a lower section of the system and at a upper section of the system. For example, the frame outlet and the housing inlet may be apertures, openings, recesses, etc. For example, when the frame and the conduit housing are both provided with a respective top opening, the top openings correspond to the frame outlet and the housing inlet. In another example, the back wall of the conduit housing may be provided with a first recess extending from a top end thereof and the front wall of the frame may be provided with a second recess extending from a top end thereof, the first and second recesses communicating with or facing one another to form a single recess through which the loop extends. It should be understood that when the front wall of the frame and the rear wall of the conduit housing are integral to form a junction wall, the first and second recesses form a single recess that extends within the junction wall from a top end thereof. In a further example, the housing inlet may be a first aperture extending through the back wall of the housing in an upper section thereof and the frame outlet may be a second aperture extending through the front wall of the frame in an upper section thereof, the first and second apertures communicating with or facing one another to form a single aperture through which the loop extends. It shouldbe understood that when the front wall of the frame and the rear wall of the conduit housing are integral to form a junction wall, the first and second apertures form a single aperture that extends though the junction wall. Similarly, the position of the housing aperture and the frame aperture may vary. For example, the housing aperture may extend through the back wall of the housing at a lower section thereof and the frame aperture may extend through the front wall of the frame at a lower section thereof, the frame aperture and the housing aperture comminating with or facing one another to form a single aperture through which the loop extends. It should be understood that when the front wall of the frame and the rear wall of the conduit housing are integral to form a junction wall, the frame aperture and the housing aperture form a single aperture that extends though the junction wall. In another example, the frame aperture may be located on the bottom wall of the frame and the housing aperture may be located on the bottom wall of the conduit housing so that the rotatable loop extends outside of the conduit housing through the housing aperture and then back into the frame through the frame aperture. It will be understood that the housing aperture may extend partially through the back wall of the conduit housing and partially through the bottom wall of the conduit housing. Similar, the frame aperture may extend partially through the front wall of the frame and partially through the bottom wall of the frame. The frame aperture may be configured, i.e., sized and shaped, so as to allow the rotatable loop to pass therethrough while preventing granules contained in the frame to pass therethrough. A granule retaining device such as brushes may be present to prevent granules from exiting the frame though the frame aperture while allowing the rotatable loop to pass through the frame aperture.

[0050] In some non-limiting implementations, the rotatable loop comprises at least a first wheel or pulley, a second wheel or pulley and an endless belt operatively mounted to the first and second wheel or pulley so that the rotation of at least one of the two wheels or pulleys triggers a rotation of the belt. It will be understood that the belt passes through the frame aperture, the housing aperture, the frame outlet and the housing inlet, as described above in connection with the rotatable loop. It will also be understood that the first and second wheels or pulleys may be located at various locations within the system. For example, the first and second wheels or pulleys may be mounted within the conduit housing such as rotatably mounted to the back wall of the conduit housing or to the junction wall. In another example, the first and second wheels or pulleys may be mounted within theframe such as rotatably mounted to the front wall of the frame or to the junction wall. In a further embodiment, the first and second wheels or pulleys may be mounted outside of the conduit housing and the frame.

[0051] It will be understood that any adequate belt and wheels or pulleys, which may be operatively connected together so that a rotation of at least one of the wheels triggers a motion of the belt may be used, as long as granule holding bodies may be mounted to the belt. For example, the belt may be a roller chain comprising a plurality of links and the two wheels or pulleys may be gearwheels configured to engage the links of the roller chain. In another embodiment, the belt may be a flexible and substantially non-extensible strap which may be made of rubber.

[0052] It will be understood that any adequate granule holding body configured to hold at least one granule may be used. In some non-limiting implementations, a granule holding body is configured, i.e. sized and shaped, for holding a single granule. In other implementations, a granule holding body is configured, i.e. sized and shaped, for holding more than one granule. For example, a granule holding body may have a curved shape so as to have a scoop-like shape. In another embodiment, a granule holding body may have a cleat shape. In a further embodiment, a granule holding body may have an annular shape of which the internal diameter is chosen to be less than the diameter of a granule.

[0053] It will be understood that the number of granule holding bodies mounted to the rotatable loop or the belt may vary as long as at least one granule holding body is present.

[0054] It will be understood that the electric motor operatively coupled to at least one of the two wheels for rotating the wheel(s). In operation, the rotation of the wheel(s) triggers the motion of the belt. For example, a granule holding body positioned inside the conduit housing translates downwardly towards the bottom wall of the conduit housing, exists the conduit housing through the housing aperture, enters into the holding cavity of the frame via the frame aperture, receives a granule thereon while at the bottom of the holding cavity, translates towards the top of the frame while holding the granule, exits the holding cavity via the frame outlet, enters into the conduit housing via the housing inlet while dropping the granule which falls at the bottom of the conduit housing and exits the system via the evacuation aperture.

[0055] In some non-limiting implementations, the dispensing system further comprises a power source such as a battery for powering the rotatable loop. The battery may be mounted at any adequate position on the dispensing system.

[0056] In other non-limiting implementations, at least the rotatable loop is electrically connectable to the power source of the drone, such as to the battery of the drone. When the dispensing system is removable mountable to the drone, the rotatable loop is removably and electrically connectable to the power source of the drone.

[0057] According to a mode of operation specific to one embodiment of the system, the dispensing system includes mounting means to detachably secure the system to an attachment surface of the drone. The dispensing system includes a frame defining a holding cavity to hold granules or seed pods awaiting to be dispensed. While the below description refers to seed pods, it will be understood that the described system also applies to granules. Optionally, and similar to agricultural or gardening hoppers, the frame of the system tapers downwardly so that the seed pods converge to a bottom of the holding cavity where all of the seedpods can be gradually and eventually collected. However, unlike other hoppers, the system’s frame has a frame inlet and a frame outlet respectively defined in a lower portion and an upper portion of its frontal wall (i.e., an interface wall) to transfer seed pods to a conduit housing of the system. The conduit housing can extend longitudinally along the front wall of the frame. As such, the conduit housing can receive therein seed pods consecutively dropped from the frame outlet. The conduit housing includes a funnel- shaped chute at a lower end of the housing, through which the seed pods can exit the system to be dispensed over the ground. To deliver the seed pods from the confines of the holding cavity, the system also includes a lift assembly. The lift assembly interconnects the holding cavity and the conduit housing to enable the successive, and preferably continuous, delivery of seed pods to the frame outlet wherefrom the seed pods drop into the conduit housing until they reach the chute and exit the dispensing system, thus dispensing the seed pod. As the drone carrying the system travels, a dispersion of seed pods over an area is achieved. In some embodiments, the dispensing system includes a controller that regulates the lift assembly to adapt the dispensing rate and / or to address undesirable parameters.

[0058] Dispensing System 10

[0059] Turning to the drawings, it is shown a dispensing system 10 for dispersing seed pods (not shown) that can be secured to a drone via an attachment interface thereof. To allow the dispensing system to latch under the drone, the dispensing system 10 can include mounting means 20 configured to detachably secure the dispensing system 10 to the attachment interface of the drone. The dispensing system also includes a frame 40 defining a holding cavity configured to hold the seed pods, a conduit housing 60 to partially house dynamic components of the system and to consecutively channel the seed pods delivered form the holding cavity, and a lift assembly 70.

[0060] Mounting means 20

[0061] Referring to the exemplary and non-limitative embodiment shown in FIGS. 1 to 4, the mounting means 20 take the form of attachment apertures 22 through which external support rods 24 of the drone can fit through to mount the drone’s attachment interface. The attachment apertures 22 of the mounting means 20 can be defined in an uppermost portion of the frame 40 and can be configured so that a respective support rod 24 is insertable therein. In the embodiment of FIGS. 1 to 4, four attachment apertures 22 are provided to accept a total of two support rods 24 (FIG. 4). As better shown in FIGS. 2 and 3, two pairs of aligned attachment apertures 22 are located (FIG. 3) in a front wall 46a of the frame 40 and an opposed back wall 46b such that the inserted support rods 24 are disposed horizontally when the system 10 is positioned upright with respect to the ground. According to alternative embodiments, the configuration and number of attachment apertures 22 can vary from four to include a smaller or greater number of such apertures 22, as required by the drone interface specifications. Other mounting means 20 suitable to secure the dispensing system 10 to a drone or other transport vehicles are envisioned herein. For example, the present disclosure envisions for the mounting means 20 any one of: a rail system, magnetic mounts, a clamp or clip system, a threaded mount, Velcro™, a slide and lock mechanism, any combination thereof, or any means well known in the art.

[0062] Frame 40 and Holding Cavity

[0063] The holding cavity 40 of the frame is delimited by walls, including a front wall46a, to contain a preset number and / or volume of seed pods therewithin. The frame walls generally taper downwardly until a bottom end of the holding cavity. The holding cavity40 can include a frame inlet 46 and a frame outlet 48, with the latter allowing the seed pods to leave the holding cavity 40. The frame inlet 46 can be located about a bottom end portion 42 of the holding cavity 40. The frame inlet 46 and outlet 48 are configured to cooperate with the lift assembly 70, as explained in more details below. With reference to the embodiment of FIGS. 1 to 4, the frame inlet 46 and the outlet 48 are more particularly and respectively defined in a lower portion and an upper portion of the front wall 46a. As shown, the inlet 46 further extends in the bottom (truncated) end portion 44 of the holding cavity 40. As previously mentioned, the cargo of the holding cavity 40 can include other granular materials, such as seeds, in which case the frame 40 inlet and outlets 46, 48 can be adjusted to cater to the smaller size of the seeds. Alternatively, the frame 40 can have any other shape suitable for holding granular material, such as a cuboid or spherical shape.

[0064] Still referring to the embodiment of FIGS. 1 to 4, the holding cavity 40 substantially follows a shape of half of an inverted frustum, in accordance with the previously mentioned downward taper of the holding cavity 40 walls. Accordingly, a top wall portion 46c of the holding cavity 40 generally corresponds to the rectangular base that is characteristic of an inverted frustum, and the truncated end portion 44 of the frame 40 generally corresponds to a truncated end that is also characteristic of an inverted frustum.

[0065] Advantageously, an inverted frustum shape allows for the seed pods held in the holding cavity to collect at the bottom end portion 42 as the seed pods are gradually being dispensed and the holding cavity emptied. The half frustum shape, on the other hand, offers a surface (i.e., the front wall 46a of the frame 40) on which other components of the system can be fixed or fastened, as explained below. It will be understood that the “half’ characteristic of the inverted frustum shape means that a “full” frustum shape is cut in half longitudinally along the central axis thereof. For the purpose of this disclosure, the central axis of the reference frustum shape is used as a reference longitudinal axis of the dispensing system (not illustrated).

[0066] As better shown in FIGS. 1 and 3, the front wall 46a of the frame 40 is planar and the frame outlet 48 is a recess located about a top portion of the planar front wall 46a. Advantageously, a substantially planar front wall 46a can simplify matching connections with other components of the dispensing system, such as the conduit housing 60.Alternatively, the front wall 46a can be slightly concave, such that a resulting apex of the front wall 46a faces inwardly in the holding cavity, or convex, without departing from the envisioned scope of this disclosure.

[0067] According to an alternative embodiment, the top wall portion 46c of the frame 40 can be a removable or partially removeable (i.e., pivotable via a hinge connection of the frame 40, for example) top cover to allow access to the interior of the frame 40 for adding or removing seed pods, as needed (FIG. 4). Otherwise, the top wall portion 46c can be integrally formed with the other walls of the frame 40, in which case the granular material can be added through the frame inlet 46 or outlet 48, provided that the conduit housing 60 is removed. Another envisioned alternative consists of providing an additional opening or trap door to the frame 40 for refilling or emptying granular material.

[0068] It will be understood that in an alternative embodiment that excludes the top wall portion 46c (e.g., the frame has an open top and the holding cavity is exposed from a top plan perspective), the open top of the frame by default corresponds to and acts as the frame outlet 48.

[0069] According to one embodiment (not visible), the frame inlet 46 includes brushes having bristles resilient enough to prevent seed pods from going through the inlet 46 by the mere effect of gravity, but not resilient enough to prevent the scoops 90 and the roller chain 80 from translating in the rotational direction 82.

[0070] According to an alternative embodiment (not shown), the frame is similar to the embodiment shown in FIGS. 1 to 4, except that the frame is smaller in height (the height being with reference to the longitudinal height of the system 10) compared to said embodiment. In such alternative, the front wall, and optionally other walls of the frame 40, does not extend above the conduit housing 60. Instead, the front wall extends below a top edge of the conduit housing 60, but still above the frame inlet 46 shown. For example, the front wall 46a can extend to a halfway point of the top edge and a bottom edge of the conduit housing 60. As such, in one mode of use, the lift assembly 70 brings the seedpod to a top edge of the holding cavity, then the assembly 70 keeps translating the seed pod above and outside the holding cavity where the seed pod can be exposed to the open-air, then drops the seed pod into the conduit housing 60.

[0071] Conduit housing 60

[0072] The conduit housing 60 advantageously serves a dual-purpose of: supporting, and at least partially shielding, static and dynamic components of the system 10 that may require a degree of protection from harmful external elements; and channelling the seed pods as they drop from the holding cavity outlet 48 to a chute 68 of the system by the effect of gravity. External harmful elements that can potentially damage the lift assembly 70, for instance, can include dirt, rain, or debris that may interfere with the chain’s 80 movement. If the dispensing system 10 is used in a reforestation or replanting context, it will be understood that a robust protective structure for the housed components from such external elements is a desirable trait. According to an alternative embodiment, the conduit housing 60 as a rear surface that delimits the holding cavity, instead of the front wall 46a of the frame 40 as shown. In other words, the rear surface of the conduit housing 60 can act partly as a front wall 46a of the frame 40.

[0073] In the embodiment shown in FIGS. 1 to 4, the conduit housing 60 partially confines the lift assembly 70 (except the motor 100) to protect more sensitive components from the aforementioned external harmful elements. Moreover, to save weight on the system, the conduit housing 60 is sized and shaped to snugly accommodate the lift assembly 70 therewithin. In this embodiment, the resulting shape of the conduit housing 60 is an elongated rectangular shape extended along the longitudinal axis of the dispensing system 10 (i.e., the conduit housing 60 is longitudinally elongated).

[0074] More specifically, and as shown, the conduit housing 60 has an elongated primary housing portion 64 that has an (hollow) elongated cuboid shape. The elongated housing portion 64 has the rear surface fixed to the front wall 46a of the frame 40, a front surface opposite the rear surface, and lateral surfaces connecting the front and rear surfaces. In this embodiment, the conduit housing 60 includes a partial top or cover. According to alternative embodiments, the primary housing portion 64 can have a shape that differs from a cuboid. For example, the primary housing portion 64 can have any other prism shape (i.e., a hollow body bounded by two identical, parallel, similarly oriented polygonal bases and at least three lateral faces) so long as one of its surfaces is configured to be fixed or fixable to the frame 40 walls.

[0075] As previously explained, the primary housing portion 64 can have a front surface, a rear surface and lateral surfaces. Still referring to FIGS. 1 to 4, each surface of the primary housing portion 64 - except for the rear surface fixed to the frame 40 wall - features housing slits 66. The slits 66 can offer several advantages. For example, voided segments of the primary housing 64 remove structural material to save weight on the system 10 without significantly compromising the structural integrity of the housing and the components housed therein. Furthermore, the slits 66 can be used to dissipate excess heat emitted by the lift assembly 70, if needed. According to an alternative embodiment (not shown), a selected plurality of housing slits 66 are sized and shaped to allow excess seed pods in the primary housing seed pods to escape the housing and to reduce the risk of seed pods jamming in the conduit housing 60. For example, instead of seeing seed pods wedged in the conduit housing 60 passage to the point of obstructing a passage in the housing and preventing subsequent seeds pods from reaching the chute 68, the excess seed pods can be evacuated through the slits 66 in a radial direction, thus mitigating a risk of channel jamming. Beyond the seed pods, a position, size and shape of the housing slits 66 can be adjusted in shape and size to evacuate another correspondingly shaped granular material used system, if applicable.

[0076] The primary housing portion 64 houses lift assembly 70 components therein, except for the motor 100 that is only partially housed. The primary housing portion 64 is also fluidly connected to a funnel-shaped chute 68. The “fluid” connection aspect between the chute 68 and the primary housing portion 64 (located above the chute 68) means that a seed pod (and air) can circulate from the primary housing portion 64 to the chute 68 a substantially unencumbered passage. For instance, the seed pod dropping from the frame outlet 48 may collide with the roller chain 80 or even the lower gearwheel 76b without preventing the seed pod from reaching the chute 68.

[0077] As shown in the embodiment of FIGS. 1 to 4, the chute 68 tapers downwardly from a top opening to a bottom opening 69. The top opening of the chute 68 is directly and fluidly connected to the primary housing portion 64 (as shown in FIG. 3). The bottom opening 69 can be sized to only allow one seed pod to fit therein at a time, which advantageously avoids the dispensing of two seed pods simultaneously, which could be wasteful and counterproductive to a seed pod dispersing goal.

[0078] With reference to FIG. 3, note that the top opening of the chute 68 widens rearwardly to the point of extending directly below the truncated end portion 44 of the frame 40. First, this relatively wide configuration of the top of the chute 68 prevents a collision between scoops 90 of the lift system and any part of the chute 68. Second, the chute 68 is well positioned to catch and evacuate seed pods that may fall through the frame inlet 46 despite the use of brushes, and which can be accounted for by a granular material detector, as explained in more details below.

[0079] Referring to FIGS. 1 to 4, the chute 68 of the conduit housing 60 includes accessory attachment means 30 to respectively fasten / insert two accessory sensors or other accessories. The accessory sensors fastened via the accessory attachment means 30 can be operatively connected to a controller of the system to provide additional functionalities or to increase the potency of existing sensors. For example, mapping and surveying functionalities can be connected to a controller to adjust the dispensing rate depending on the categorized area. Alternatively, some of the sensors described in more details herein can be fastened to the accessory attachment means 30. In the embodiment shown, the accessory attachment means 30 include insertion apertures.

[0080] Lift Assembly 70

[0081] The following relates to the lift assembly 70 that can be used to deliver a seed pods held in the holding cavity to the frame outlet 48 and drop said seed pod into the conduit housing 60 to reach the chute 68 and thus exit the dispensing system 10. While the lift assembly 70 embodiment of FIGS. 1 to 4 presents a chain conveyor assembly, the present disclosure means to include other means capable of bringing seed pods to the frame outlet 48 of the hopper, such as an auger mechanism, a conveyor belt system, a bucket elevator, or any suitable other material handling equipment.

[0082] With reference to the embodiment of FIGS. 1 to 4, and as better shown in the cross-section view of FIG. 3, the lift assembly 70 is operatively connected to both the holding cavity and the conduit housing 60 in order to continuously bring seed pods being held in the holding cavity to the frame outlet 48; optionally until the holding cavity becomes empty. The lift assembly 70 shown includes gearwheels 72 (e.g., sprockets orpulleys), an endless motion transmission element (e.g., a chain roller, as shown, or a belt), scoops 90 to pick up the seed pods in the holding cavity, and an electric motor 100.

[0083] The term “scoop” as used herein means an apparatus adapted to pick up and carry a chosen granular material, or a selected array of granular materials, being held in the holding cavity. The scoop can include a bowl portion shaped and sized to hold granular material. Alternatively, the scoop can be embodied by a cleat, a wedge, protruding rods acting as “chopsticks”, or any other element suitable to carry the granular material within the lift assembly 70 configuration.

[0084] The gearwheels 72 of the lift assembly 70 include at least one drive wheel 76a to transmit force from the motor 100 and to translate the scoops 90 in the desired rotational direction 82. From the perspective of the right-side elevation view of FIG. 3, the rotational direction 82 is counterclockwise. The embodiment of FIGS. 1 to 4 includes two gearwheels 72 rotatably mounted within the conduit housing 60 to each define a turning or rotation axis (i.e., a top gearwheel 76a rotation axis AA’ and a bottom gearwheel 76b rotation axis BB’; see FIG. 2). As shown, the gearwheels 72 are oriented such that the turning axes are transverse to the longitudinal axis of the dispensing system 10, as required to carry seed pods from the holding cavity, which is located in the rear of the system 10 in this embodiment, to the conduit housing 60, which is located in the front of the system 10.

[0085] Expanding on the position of the gearwheels 72, according to the embodiment of FIGS. 1 to 4, the top and bottom gearwheels 72 are mounted to the conduit housing 60 such that the turning axes AA’, BB’ of the gearwheels 72 are vertically aligned in the conduit housing 60 (see the top view of FIG. 4). As a result, the roller chain 80 extends vertically in the holding cavity (provided that the system is oriented upright with respect to the ground). In other words, in this embodiment, the roller chain 80 extends alongside an inner surface of the front wall 46a.

[0086] As shown, the top 76a and bottom 76b gearwheels 72 have identical or near identical sizes. The person of ordinary skill in the art would appreciate that the specific size of the gearwheel in a chain conveyor is selected based on several factors, including a load requirement sufficient to scoop and lift a plurality of seed pods (e.g., seven seed pods simultaneously) and to overcome friction, a desired conveyor speed (although the motor100 can also be configured to adjust this factor), a required torque supplied by the electric motor 100, and the space constraints as imposed by the conduit housing 60 if the housing is the limiting factor. It will be understood that the housing components can be provided in a larger size relative to the frame 40 to receive larger gearwheels 72, for example to increase the torque of the assembly.

[0087] With reference to FIGS. 1 to 4, out of the top 76a and bottom 76b gearwheels 72, the top gearwheel is the drive wheel 76a. As represented in FIG. 3, the drive wheel 76a can be mounted to the motor 100, which is itself fixedly mounted to the conduit housing 60.

[0088] As better shown in FIGS. 2 and 3 together, the gearwheels 72 of a given size can be positioned (i.e., rotatably mounted) in the conduit housing 60 such that a section of the outer lip of each gearwheel 72 partially extends in the holding cavity through the frame inlet 46 and outlet 48 of the holding cavity. Since teeth on the outer lip of the gear wheels 72 protrude inwardly into the holding cavity, a segment of the motion transmission element mounted around the gearwheels 72 consequently extends within the holding cavity from the frame inlet 46 to the frame outlet 48. In an alternative embodiment in which the outer lip do not extend within the holding cavity but rather adjacently to the holding cavity, for example above and / or below the holding frame inlet and / or outlet, the gearwheels 72 are still configured such that their outer lips are located behind (i.e., behind a vertical plane defined by the planar front wall 46a) the front wall 46a of the frame 40 such that the roller chain 80 can extend within the holding cavity.

[0089] The motion transmission element 80 can include a belt, such as a rubber material belt, adapted to structurally accept scoops 90 to rigidly hold seed pods, for example. In the embodiment of FIGS. 1 to 4, the motion transmission element 80 is embodied by a roller chain. Reference will be made to the non- limitative roller chain herein instead of the more general motion transmission element 80. A roller chain offers some advantages in the context of a seed pod dispenser in which system noise and lubricant transfer to the seed pods are relatively minor issues. For example, a roller chain offers high strength and durability in harsh conditions, relatively low slippage, and modularity withscoops bracket portions 92, for example. It will be understood that the lift assembly 70 cannot be fixed or repaired mid flight.

[0090] As previously explained, gearwheels 72 of the lift assembly 70 illustrated in FIGS. 1 to 4 can be vertically aligned. According to alternative embodiments, the lift assembly 70 can be configured non-vertically (i.e., not parallel to the longitudinal axis of the dispensing system). More specifically, the roller chain can be tilted towards the conduit housing 60, without substantially affecting the delivery effectiveness. It will be understood that an inclined conveyor can have lower power requirements. However, it will be also understood that an inclined conveyor can occupy more space relative to the present embodiment adapted to mount a small-scale drone. Several ways exist to achieve a forward tilted roller chain in the context of this system. For example, the front wall 46a can be inclined forward compared to the present embodiment, and the gearwheels 72 can be correspondingly and vertically offset to one another so that the chain roller 80 extends alongside the inclined front wall 46a. The scoops 90 of such a forward tilted roller chain are correspondingly oriented to remain parallel to the ground during normal use of the system.

[0091] According to one embodiment (not shown), the lift assembly 70 further includes a track disposed on the inner surface of the front wall 46a of the frame 40. More specifically, the track is disposed in-line with the roller chain 80 to engage and support the roller chain in motion in the holding cavity. Advantageously, the track can protect the frame 40 material by providing a buffer between the front wall 46a and the roller chain, which can be made of different and clashing materials. Depending on the embodiments, the track can include rollers arranged transversely to the rotational direction 82 of motion of the roller chain, or a smooth rail arranged along said direction of motion.

[0092] The dispensing system can include tensioning means configured to adjust a tension of the roller chain. The tensioning means can be mounted to the conduit housing 60 to engage, selectively or by default, the motion transmission element 80 (e.g., the roller chain). The tensioning means are configured to selectively adjust a tension of the roller chain. It will be understood that tensioning means can adjust the tension by applying constant tension to the roller chain 80, which helps to maintain optimal performance andreduce slack / sagging that could lead to chain slippage or uneven wear. A suitably tensioned roller chain is also less likely to dismount the gearwheels 72. Yet again referring to the embodiment of FIGS. 1 to 4, the tensioning means include a spring tensioner (partially shown in FIG. 1), mounted within the conduit housing 60 and engaged with the roller chain.

[0093] The lift assembly 70 can include scoops 90. A plurality of scoops 90 extend from the roller chain 80 in a direction opposite to the gearwheels 72. As better shown in FIG. 3, each scoop 90 has a bracket portion 92 coupled to the roller chain, and a bowl portion 94, extending away from the bracket portion 92, and configured to hold at least one seed pod in an upright orientation within the holding cavity. In other words, in the arrangement shown, each scoop faces towards the top wall of the frame 40 when being positioned in the holding cavity by the rotating roller chain.

[0094] According to the embodiment shown in FIGS. 1 to 4, sixteen scoops 90 are provided on the roller chain, with eight being illustrated in FIG. 3, thus resulting in seven scoops 90 present in the holding cavity at any given rotation stage of the lift assembly 70. The number of scoops 90 coupled with the roller chain 80 (or any other motion transmission element) can vary from the embodiment shown. It will be understood that the number of scoops 90 illustrated can notably be adjusted based on the size of the granular material subject to a dispersing operation. For instance, relatively large granular material, such as certain tree seed pods, may require a larger bowl portion 94 and thus the roller chain may feature fewer scoops 90. Regardless of the number of scoops 90, a distance between the scoops 90 can be accounted for, along with a speed of rotation of the roller chain, to determine a drop rate of the dispensing system as explained in more details below.

[0095] Motor 100

[0096] The electric motor 100 can be mounted to the conduit housing 60 in different ways. In the embodiment of FIGS. 1 to 4, the motor 100 is mounted to an outside surface of the primary housing portion 64. In an alternative embodiment in which the conduit housing 60 is larger, the motor 100 can be mounted within the conduit housing 60. This said, the motor 100 is advantageously positioned mostly outside of the conduit housing 60 to avoid interfering with the seed pods moving through the primary housing portion 64 or the chute 68 of the conduit housing 60.

[0097] The electric motor 100 is operatively connected to the drive wheel 76a of the lift assembly 70, which is the top gearwheel 76a shown. The motor 100 is configured to drive the drive wheel 76a in rotation around the rotation axis AA’ according to the rotational direction 82 that enables an upwardly movement of the scoops 90 within the holding cavity 40. The electric motor 100 can be a brushless motor 100 rated for 60 kg of torque for example. In the embodiment of FIGS. 1 to 4, the motor 100 is directly and coaxially connected to the drive wheel 76a. In other words, even though the motor 100 is mounted outside of the conduit housing 60, the shaft of the motor 100 extends through the conduit housing 60 wall to reach the drive wheel 76a (FIG. 3).

[0098] In one embodiment, the “electric motor” 100 includes an electric battery suitable to power the motor 100. In other embodiments, the motor 100 is operatively connected to an external battery, for instance a primary or secondary / accessory battery of a drone or transport vehicle carrying the dispensing system.

[0099] Dispensing System Controller

[0100] The dispensing system can be provided with a controller or an array of controllers which can serve three main functions, as explained in more details below in relation to associated sensors: (i) control the drop speed / dispensing rate of the seed pods by adjusting the electrical motor’s 100 input current; (ii) control, and if required shutdown, the lift assembly 70 by monitoring the proper functioning of the motor 100 and the system at large; and (iii) signal a user when undesirable events occur in the dispensing system 10.

[0101] It will be understood that the controller can be implemented in a variety of ways. For example, the controller can be provided with the dispensing system 10. Otherwise, the controller can be operationally shared with an internal controller of the drone or transport vehicle that is configured to make the determinations and / or commands described below. Finally, the controller can stay with a user remotely controlling the drone, such that the relevant system data is communicated via a system transmitter to the userbased controller.

[0102] In one embodiment, the dispensing system 10 includes a position sensor operatively connected to the motor 100 to monitor a state of the motor 100. Particularly,the position sensor is configured to detect an overload set point of the motor 100 in accordance with the preset specifications of the motor 100. In such embodiment, a position controller operatively connected to the position sensor and / or the motor 100 is provided. The position controller is configured for at least one of: (i) issuing a warning signal when the overload set point is detected to inform a user of the dispensing system of a corrective action to be performed; and (ii) deactivating the motor 100 when the overload set point is detected. The overload set point can also be understood as an excessive current spike, or overcurrent, as detected by the position controller, which can lead to overheating of the motor 100 and surrounding elements of the system 10. Undesirable circumstances where an overload set point can be reached include: a jam in the lift assembly 70 leading to one of the gearwheels 72 stuttering and the motor 100 overexerting itself, and a roller chain 80 misalignment. Alternatively, the position sensor can also be an optical position sensor (e.g., a laser sensor) similarly configured by directly detecting unusual displacements or lack of movements in the system 10.

[0103] Other types of position sensors are envisioned herein to detect a state of the system that warrants a warning signal or a shutdown of the motor 100 of the lift assembly 70, such as a roller chain slip sensor, a chain roller 80 misalignment sensor, and a bearing temperature sensor of the motor 100.

[0104] In one embodiment, the chute 68 of the conduit housing 60 includes a granular material sensor configured to monitor the bottom opening of the chute 68 and to collect data regarding granular material exiting the dispensing system 10 through the bottom opening 69. The dispensing system 10 further includes a toggle or position controller operatively connected to the granular material sensor and the motor 100. The toggle controller is configured to: (i) generate information on a state of the dispensing system 10 regarding the collected data; (ii) determine that a granular material threshold event has occurred; and (iii) issue a signal based on the determination to inform a user of the system of a corrective action to be performed; and (iv) deactivate the motor 100 based on the determination.

[0105] For example, the described configuration of the granular material sensor (i.e., a granular material counting sensor) can advantageously be used to detect a jam in theconduit housing 60 or that the holding cavity is empty, since in both problematic cases, the granular material sensor stops sensing new / subsequent granular material being sensed. In other words, the “state of the dispensing system” would substantially remain unchanged despite the motor 100 running and the granular material threshold event is either a jam or an empty holding cavity. Furthermore, if a signal is sent to the user to address the jam in the system or refill the holding cavity to continue with the dispersing operation, for instance. The mission’s effectiveness can improve by reducing downtime and allowing a user to resolve issues more quickly.

[0106] According to one embodiment, the dispensing system 10 secured and connected to a drone can be configured and coordinated with other dispensing systems 10 combined to other drones as a drone swarm controlled by a ground-based computer and a ground transmitter, so that a single user can execute a flight mission with multiple dispensing systems at once.

[0107] According to one embodiment, the dispensing system 10 includes a motor controller operatively connected to a directional motion sensor of the drone (or transport vehicle) configured to collect movement dynamics data.

[0108] The element “directional motion sensor” as used herein means a device designed to detect and measure velocity in at least one specific plane, namely on a horizontal. It will be understood that a drone may include omnidirectional sensors that capture a plurality of motions, without being limited to a specific plane. For the purpose of the motor controller, the focus is on velocity motion occurring along the horizontal plane, such that directional motion data (e.g., a horizontal velocity indicator) can be retrieved from an omnidirectional sensor of a drone, if applicable. It will be understood that directional motion sensors are commonly integrated in contemporary drones to monitor the flight dynamics of the drone, such as position, orientation and velocity and relay other flight / movement dynamic data. These motion sensors can use infrared (PIR), ultrasonic, microwave, or a combination thereof.

[0109] Returning to the embodiment including the motor controller and the directional motion sensor of the drone, the motor controller is configured to: (i) perform an analysis of the movement dynamics data, the result of the analysis including a horizontal velocityindicator of the dispensing system with respect to a ground plane / horizontal; (ii) determine a target rotation speed of the motor 100 based on the horizontal velocity indicator; and (iii) adjust a motor 100 current of the motor 100 based on the target rotation speed of the motor 100 to control a rotation speed of the gearwheels 72.

[0110] The configuration including the motor controller and a directional motion sensor can be used to indirectly regulate the speed at which the granular material is being ejected by the lift system based on the horizontal distance travelled by the drone to advantageously provide a consistent distribution of seed pods on the ground. Precise distribution intervals by the lift assembly 70 also reduce the likelihood of jamming or misalignment.

[0111] According to a particular embodiment including the motor controllerdirectional motion sensor combination, the target rotation speed of the motor 100 is proportional to the horizontal velocity indicator. For example, the relationship between the target rotation speed of the motor 100 of the lift assembly 70 and the horizontal velocity indicator with respect to the ground can be governed by the following equation (1).

[0112] To dynamically adjust the rotation speed of the roller chain assembly proportionally to the horizontal speed of a vehicle, the desired linear relationship can follow the following formula: R = vK (1); where R is the target rotation speed of the motor of the lift assembly, expressed in revolutions per minute of the roller chain; v is the velocity of the drone on the horizontal, expressed in metres per minute; K is a proportionality constant that represents a desired number of revolutions the roller chain 80 should achieve per metres of horizontal distance the drone travels. Equation (1) assumes that the gear ratio between the motor and the associated drive wheel 76a is 1 : 1 (i.e., there is no gear transmission between the motor and the drive wheel 76a).

[0113] Regarding equation (1), the constant K can be determined based on the embodiment of the lift assembly 70. For example, according to the embodiment of the system of FIGS. 1 to 4, if the roller chain 80 has sixteen scoops, then sixteen seed pods are normally dispensed per revolution of the roller chain. Approximately, assuming that a dispersing target is to disperse one seed pod every two metres travelled by the drone on thehorizontal, then the desired number of revolutions per metre (K) is 1 / 32 revolutions per metre.

[0114] It will be understood that according to this embodiment, scoops 90 are disposed at regular intervals along the roller chain 80 following a preset distance between the scoops 90 such that the dispensing rate can be derived.

[0115] In the previous description, non-limitative embodiments of the method are described. Although these embodiments of the assembly and corresponding parts thereof consist of certain geometrical configurations as explained and illustrated herein, not all of these components and geometries are essential and thus should not be taken in their restrictive sense. It is to be understood, as also apparent to a person skilled in the art, that other suitable components and cooperation thereinbetween, as well as other suitable geometrical configurations, may be used for the method, as will be briefly explained herein and as can be easily inferred herefrom by a person skilled in the art. Moreover, it will be appreciated that positional descriptions such as “above”, “below”, “left”, “right”, “bottom”, “top”, “end” and the like should, unless otherwise indicated, be taken in the context of the figures and should not be considered limiting.

[0116] Furthermore, in the previous description, the same numerical references refer to similar elements. Furthermore, for the sake of simplicity and clarity, namely so as to not unduly burden the figures with several references numbers, not all figures contain references to all the components and features, and references to some components and features may be found in only one figure, and components and features of the present disclosure which are illustrated in other figures can be easily inferred therefrom. The embodiments, geometrical configurations, materials mentioned and / or dimensions shown in the figures are optional and are given for exemplification purposes only.

[0117] In the present description, an embodiment is an example or embodiment. The various appearances of “one embodiment”, “one embodiment”, “an embodiment” or “some embodiments” do not necessarily all refer to the same embodiment or embodiment. Although various features may be described in the context of a single embodiment, the features may also be provided separately or in any suitable combination. Conversely, although the invention may be described herein in the context of separate embodiments forclarity, it may also be implemented in a single embodiment. Reference in the specification to "some embodiments", "an embodiment", "one embodiment" or "other embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiments or embodiment is included in at least some embodiments, but not necessarily all embodiments.

[0118] It is to be understood that the phraseology and terminology employed herein are not to be construed as limiting and are for descriptive purpose only. The principles and uses of the teachings of the present disclosure may be better understood with reference to the accompanying description, figures and examples. It is to be understood that the details set forth herein do not construe a limitation to an application of the disclosure.

[0119] Furthermore, it is to be understood that the disclosure can be carried out or practiced in various ways and that the disclosure can be implemented in embodiments other than the ones outlined in the description above. It is to be understood that the terms "including", "comprising", and grammatical variants thereof do not preclude the addition of one or more components, features, steps, or integers or groups thereof and that the terms are to be construed as specifying components, features, steps or integers. If the specification or claims refer to "an additional" element, that does not preclude there being more than one of the additional element. It is to be understood that where the claims or specification refer to "a" or "an" element, such reference is not to be construed that there is only one of that element. It is to be understood that where the specification states that a component, feature, structure, or characteristic "may", "might", "can" or "could" be included, that particular component, feature, structure, or characteristic is not required to be included.

[0120] It will be appreciated that the methods described herein may be performed in the described order, or in any suitable order.

[0121] Several alternative embodiments, embodiments and examples have been described and illustrated herein. The embodiments of the invention described above are intended to be exemplary only. A person of ordinary skill in the art would appreciate the features of the individual embodiments, and the possible combinations and variations of the components. A person of ordinary skill in the art would further appreciate that any ofthe embodiments could be provided in any combination with the other embodiments disclosed herein. It is understood that the invention may be embodied in other specific forms without departing from the central characteristics thereof. The present examples and embodiments, therefore, are to be considered in all respects as illustrative and not restrictive, and the invention is not to be limited to the details given herein. Accordingly, while the specific embodiments have been illustrated and described, numerous modifications come to mind. The scope of the invention is therefore intended to be limited solely by the scope of the appended claims.

Claims

CLAIMS1. A dispensing system for dispersing granular material, the dispensing system being mountable to a drone or transport vehicle, the dispensing system comprising: a frame defining a holding cavity configured to hold granules, and comprising a frame aperture defined in a lower portion thereof and a frame outlet defined in an upper portion thereof; a conduit housing projecting outwardly from the frame, and comprising an evacuation aperture at a bottom end thereof for evacuating at least one of the granules received from the holding cavity, a housing inlet defined in an upper portion thereof for receiving the at least one of the granules from the holding cavity and a housing aperture defined in a lower portion thereof; a lift assembly operatively connected to the holding cavity and the conduit housing, the lift assembly comprising: a rotatable loop comprising a first portion extending within the conduit housing and a second portion extending within the holding cavity, and extending through the frame aperture, the housing aperture, the frame outlet and the housing inlet; at least one granule holding body projecting from the rotatable loop and being configured to hold the at least one of the granules; and an electric motor operatively coupled to the rotatable loop to rotate the loop and thereby trigger an upward motion of the at least one granule holding body to position the at least one of the granules thereon and deliver the at least one of the granules into the conduit housing in order to evacuate the at least one of the granules via the evacuation aperture, wherein at least one of the frame and the conduit housing is mountable to the drone or transport vehicle.

2. The dispensing system of claim 1, wherein the frame aperture and the housing aperture are sized and shaped so as to allow the rotatable loop and the at least one granule holding body to pass therethrough from the conduit housing into the holding cavity while preventing the granules to therethrough from the holding cavity into the conduit housing.

3. The dispensing system of claim 1 or 2, further comprising at least one brush comprising bristles positioned relative to the frame aperture and the housing aperture so as to prevent the granules from passing from the holding cavity into the conduit housing.

4. The dispensing system of any one of claims 1 to 3, wherein the frame outlet comprises a first opening defined at the top of the frame and the housing inlet comprises a second opening defined at the top of the conduit housing.

5. The dispensing system of any one of claims 1 to 3, wherein the frame outlet comprises a first aperture defined in an upper portion of the frame and the housing inlet comprises a second aperture defined in an upper portion of the conduit housing, the first aperture communicating with the second aperture and the first and second apertures being shaped and sized to allow the rotatable loop, the at least one granule holding body and the at least one of the granules to pass therethrough.

6. The dispensing system of any one of claims 1 to 3, wherein a junction wall between the frame and the conduit housing comprises a recess at a top portion thereof, the recess corresponding to both the frame outlet and the housing inlet, the recess being shaped and sized to allow the rotatable loop, the at least one granule holding body and the at least one of the granules to pass therethrough.

7. The dispensing system of claim 6, wherein the rotatable loop comprises a first wheel, a second wheel and an endless belt operatively mounted to the first and second wheels, the electric motor being operatively coupled to at least one of the first and second wheels and the at least one granule holding body projecting from the endless belt.

8. The dispensing system of claim 7, wherein the first wheel comprises a first gearwheel, the second wheel comprises a second gearwheel and the endless belt comprises a roller chain having a plurality of links configured to engage the first and second gearwheels, the at least one granule holding body projecting from one of the links.

9. The dispensing system of claim 8, wherein the first and second gearwheels are mounted to the conduit housing, the first gearwheel being arranged so that a section of an outer lip thereof extends in or adjacently the holding cavity and the second gearwheel being arranged so that a section of an outer lip thereof extends in or adjacently the holding cavity.

10. The dispensing system of any one of claims 1 to 9, wherein the frame is a hopper frame tapering downwardly to a bottom end portion thereof.

11. The dispensing system of any one of claims 1 to 10, wherein the conduit housing comprises a chute provided with the evacuation aperture.

12. The dispensing system of claim 11 , wherein the chute has a funnel-shape that tapers towards the bottom opening.

13. The dispensing system of any one of claims 1 to 12, wherein the holding cavity has a shape of half of an inverted frustum, wherein a top wall and the bottom end portion of the frame respectively correspond to a base and a truncated end of the half-inverted frustum shape.

14. The dispensing system of any one of claims 1 to 13, further comprising mounting means, the mounting means comprising attachment apertures defined in an uppermost portion of the frame, the attachment apertures being configured for at least one respective support rod to be insertable therein.

15. The dispensing system of any one of claims 1 to 14, wherein the conduit housing has an elongated cuboid-shaped primary housing portion having a rear surface fixed to the front wall of the frame, wherein the primary housing portion partially houses the lift assembly, and wherein the chute is fluidly connected under the primary housing portion.

16. The dispensing element of claim 15, wherein the primary housing portion of the conduit housing has a front surface, opposite the rear surface, and lateral surfaces, and wherein at least one of the front and lateral surfaces define slits.

17. The dispensing system of any one of claims 1 to 16, wherein the second portion of the rotatable loop extends alongside an inner surface of a wall separating the holding cavity from the conduit housing.

18. The dispensing system of claim 17, wherein the lift assembly further comprises a track disposed along the inner surface of the wall separating the holding cavity from the conduit housing and further arranged in-line with the second portion of the rotatable loop, and wherein the track is configured to engageably support the second portion of the rotatable loop translating in the holding cavity.

19. The dispensing system of any one of claims 1 to 18, further comprising tensioning means mounted to the conduit housing and engageable with the rotatable loop, the tensioning means being configured to adjust a tension of the rotatable loop, and wherein the tensioning means comprise a spring tensioner.

20. The dispensing system of any one of claims 1 to 19, wherein the at least one granule holding body comprises at least one cleat.

21. The dispensing system of any one of claims 1 to 19, wherein the at least one granule holding body is provided with an inwardly curved shape configured for receiving the at least one of the granules therein.

22. The dispensing system of any one of claims 1 to 21, further comprising a position sensor operatively connected to the motor and configured to detect a current overload setpoint of the motor in accordance with preset specifications of the motor, and wherein the dispensing system further comprises a position controller operatively connected to the position sensor, and configured for at least one of:• issuing a warning signal upon detection of the overload set-point to inform a user of the dispensing system of a corrective action to be performed; and• deactivating the motor upon detection of the overload set-point, wherein the position controller is operatively connected to the motor.

23. The dispensing system of any one of claims 1 to 21, further comprising a granular material sensor configured to monitor the evacuation aperture and to collect data regarding given ones of the granules exiting the dispensing system through the bottom opening, andwherein the dispensing system further comprises a position controller operatively connected to the granular material sensor and the motor, and configured to:• generate information on a state of the dispensing system regarding the collected data;• determine that a granular material threshold event has occurred;• issue a signal based on the determination to inform a user of the system of a corrective action to be performed; and• deactivate the motor based on the determination.

24. The dispensing system of any one of claims 1 to 23, wherein the drone or transport vehicle is provided with a directional motion sensor configured to collect movement dynamics data, and wherein the dispensing system further comprises a motor controller operatively connected to the motor of the dispensing system and the directional motion sensor of the drone or transport vehicle.

25. The dispensing system of any one of claims 1 to 23, further comprising a directional motion sensor configured to collect movement dynamics data and a motor controller operatively connected to the motor and the directional motion sensor.

26. The dispensing system of claim 24 or 25, wherein the motor controller is configured to:• perform an analysis of the movement dynamics data, the result of the analysis including a horizontal velocity indicator of the dispensing system with respect to a ground;• determine a target rotation speed of the motor based on the horizontal velocity indicator; and• adjust a motor current of the motor based on the target rotation speed of the motor to control a rotation speed of the gearwheels.

27. The dispensing system of claim 26, wherein the motor controller is further configured such that the target rotation speed of the motor is proportional to the horizontal velocity indicator.

28. A dispensing system for dispersing granular material, the dispensing system being mountable to a drone or transport vehicle, the dispensing system comprising: a frame, defining a holding cavity configured to hold granular material, and having walls, including a front wall, the frame having a frame inlet and outlet respectively defined in a lower portion and an upper portion of the front wall; a conduit housing projecting outwardly from the front wall of the frame, at least partially covering the frame inlet, including a chute having a bottom opening, the conduit housing being configured to receive and evacuate granular material; a lift assembly operatively connected to the holding cavity of the frame and the conduit housing, and configured to bring granular material being held in the holding cavity to the frame outlet to deliver into the conduit housing and reach the chute, and thus exit the dispensing system; and mounting means connected to one of the frame and the conduit housing and configured to detachably secure the dispensing system to the attachment interface of the drone or transport vehicle.

29. The dispensing system of claim 28, wherein the lift assembly includes any one of: an auger mechanism, a conveyor belt system, a bucket elevator, and any combination thereof.

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