Autonomous Orchard Sprayer Navigation for Dense Canopy Safety

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Solution Overview

Problem

Modern agricultural equipment, particularly orchard spraying devices, pose hazards to operators due to exposed parts and the need for protective gear, and are cumbersome and labor-intensive, especially in dense tree canopies, necessitating an automated solution to replace human operators.

Innovation Solution

A robotic agricultural system with autonomous delivery vehicles equipped with sensors and a control center that autonomously navigate predefined paths, perform agricultural tasks, and communicate through a command and control network, allowing for efficient operation without human intervention.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Object-affected harmful factors

If automated robotic systems are implemented, then operator safety and labor intensity are improved, but device complexity and initial cost increase

Engineering Contradiction:

Improveoperator safetyVSAvoidsystem complexity

Core Design Contradiction:

Object-affected harmful factorsVSDevice complexity

Solution Approach 1:

The autonomous delivery vehicle performs agricultural tasks independently without human operators in the field. The vehicle autonomously navigates, sprays chemicals, and returns to base for refilling, eliminating direct human exposure to hazardous chemicals while maintaining operational efficiency

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

A base station serves as an intermediary between human operators and the autonomous vehicle. The base station handles chemical storage, vehicle refilling, and operational control, allowing human operators to work from a safe distance while the vehicle operates autonomously in hazardous environments

Inventive Principle:

Principle #24Intermediary (Mediator)

2Ease of operation

If traditional orchard spraying devices are used, then device simplicity is maintained, but ease of operation deteriorates in dense tree canopies

Engineering Contradiction:

Improveoperation in dense canopyVSAvoidequipment design

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The autonomous delivery vehicle features a low-profile design that can dynamically adapt to varying canopy heights. The vehicle maintains a position below low-hanging branches while delivering chemicals to tree trunks and lower canopy areas, enabling operation in previously inaccessible dense orchard environments

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

Manual mechanical spraying equipment is replaced with an autonomous vehicle system equipped with sensors and automated chemical delivery mechanisms. This substitution enables precise navigation and spraying operations in complex three-dimensional orchard spaces that are difficult to access with traditional mechanical equipment

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Productivity

If human operators work continuously, then productivity increases, but operator fatigue and injury risk increase

Engineering Contradiction:

Improveoperational efficiencyVSAvoidoperator endurance

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The autonomous delivery vehicle operates continuously without interruption by automatically returning to the base station for chemical refilling. This eliminates the breaks and fatigue associated with human operation, maintaining continuous productive action while the vehicle autonomously manages its own supply needs

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The vehicle autonomously navigates back to base, docks, and refills chemical supplies without human intervention. This self-service capability eliminates operator fatigue and injury risks associated with continuous manual work while maintaining uninterrupted productivity

Inventive Principle:

Principle #25Self-service

4Object-affected harmful factors

If protective gear is worn by operators, then safety is improved, but ease of operation deteriorates due to restricted movement and discomfort

Engineering Contradiction:

Improvechemical exposure protectionVSAvoidoperator comfort and mobility

Core Design Contradiction:

Object-affected harmful factorsVSEase of operation

Solution Approach 1:

Human operators are extracted from the hazardous chemical spraying environment entirely. The autonomous vehicle performs all chemical application tasks, eliminating the need for operators to wear protective gear, respirators, or specialized clothing, thereby restoring full comfort and mobility

Inventive Principle:

Principle #2Taking out (Extraction)

Data Source

PatentUS11140889B2Robotic agricultural system and method

Publication Date: 2021.10.12 DEERE & CO

AI summary

A robotic orchard spraying system having autonomous delivery vehicles (ADV), each autonomously delivering an amount of a premixed solution over a non-overlapping path verified by a forward-looking sensor, video, or both. Also, a mobile control center, configured to wireles sly inform the autonomous delivery vehicle of the path within the areas and to confirm that the autonomous delivery vehicle is following the path within the area. Additionally, a mapper vehicle generates the path within the area, the mapper vehicle being configured to communicate information about the path and the area to the command center. The mapper vehicle senses the path with a forward-looking LiDAR sensor, and senses the area with a GPS sensor. Moreover, a nurse truck has a reservoir of premixed solution for replenishing a tank of the ADV. ADVs and the control center communicate over a radio network, which may be a mesh network, a cellular network, or both.