Robotic Multicopter Sampling for Stable Infield Crop and Soil Sensing

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Solution Overview

Problem

Existing multicopter platforms for large-scale crop sampling face limitations in flight duration and stability under wind disturbances, and are unable to efficiently carry power-demanding payloads for crop health and soil nutritional status inspection and sample collection.

Innovation Solution

An unmanned multicopter equipped with a multi-joint robotic manipulator, sensors, and a landing system, capable of collecting samples and data with improved flight time and stability, using innovative end effector design and robotic motion controls.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If existing multicopter platforms are used for crop sampling, then mobility and access to scattered sampling locations is improved, but flight duration is limited and stability under wind disturbances deteriorates

Engineering Contradiction:

ImprovemobilityVSAvoidflight duration

Core Design Contradiction:

Ease of operationVSDuration of action of moving object

Solution Approach 1:

The system divides the sampling operation into multiple phases: multiple UAV flights for different locations, with manual intervention for battery swapping. This segmentation allows the use of lightweight, maneuverable UAVs for each individual sampling task while accepting limited flight duration per battery charge, thereby maintaining mobility without requiring heavy batteries that would reduce maneuverability.

Inventive Principle:

Principle #1Segmentation

2Ease of operation

If existing multicopter platforms are used for crop sampling, then mobility and access to scattered sampling locations is improved, but stability under wind disturbances deteriorates

Engineering Contradiction:

ImprovemobilityVSAvoidstability

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The patent employs active stabilization control algorithms that function as a virtual counterweight system, continuously adjusting rotor thrust distributions to compensate for wind disturbances and maintain platform stability. This software-based counterbalancing allows the lightweight UAV to achieve operational stability comparable to heavier platforms without sacrificing mobility.

Inventive Principle:

Principle #8Anti-weight (Counterweight)

3Adaptability or versatility

If power-demanding payloads are added to multicopter platforms, then crop health and soil nutritional status inspection capability is improved, but flight duration and mobility deteriorate

Engineering Contradiction:

Improveinspection capabilityVSAvoidflight duration

Core Design Contradiction:

Adaptability or versatilityVSDuration of action of moving object

Solution Approach 1:

The system introduces manual battery swapping as an intermediary mechanism between the UAV and the ground station. This allows the UAV to maintain lightweight construction for mobility while the ground station provides unlimited power replenishment, effectively decoupling the payload power requirements from the UAV's flight duration limitations.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the mechanical solution of carrying heavy batteries on the UAV with a systematic approach using ground-based power stations and automated or manual battery swapping. This substitution allows high-power payloads to be used during flight without the weight penalty, as power is transferred from the ground rather than carried in the air.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Measurement precision

If manual scouting and tissue sample collection are used, then sample collection accuracy is improved, but labor efficiency and time consumption deteriorate

Engineering Contradiction:

Improvesample collection accuracyVSAvoidlabor efficiency

Core Design Contradiction:

Measurement precisionVSProductivity

Solution Approach 1:

The UAV system performs self-positioning using GPS and autonomous navigation to reach predetermined sampling locations without human intervention. The robotic manipulator autonomously executes sampling operations based on pre-programmed sequences, eliminating the need for manual guidance while maintaining sampling accuracy through precise position control and automated maneuvering.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces manual scouting operations with an automated UAV system that uses computer vision, GPS navigation, and robotic manipulators to perform sampling. This substitution maintains the precision of expert manual sampling while dramatically improving productivity by eliminating human fatigue, consistent performance, and the ability to operate continuously without breaks.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS12617561B2Robotic multicopter sampler for infield crop and soil health sensing and tissue sample collection

Publication Date: 2026.05.05 IOWA STATE UNIV RES FOUND INC

AI summary

An unmanned aerial vehicle (UAV), such as a multicopter, can be equipped with unique tools for use in agricultural operations. For example, the tools can be acquisition tools that can acquire a physical sample from a growing plant, such as a crop. The tools could also acquire physical specimens from areas around the plants. In addition, the UAV could be equipped with sensors, such as imagery acquiring devices (e.g., cameras, LIDAR, time of flight sensors, etc.) to acquire even additional information. The tools can be equipped via movable arms and/or end effectors to be able to directly contact the plants and/or soil. The longevity of the flight time of the UAV can be improved by tethering, improved batteries, or other add-ons to be able to acquire more information.