The present invention relates to an autonomous agriculture platform guidance system and method. All publications cited in this application are herein incorporated by reference.
On large and small farms, tractors are the most indispensable tool of the modern farmer. Whether tilling the earth, spraying pesticides, or performing other general farm tasks, tractors have become a staple of today’s agriculture. The tractor’s dependence on human drivers is, however, a drawback. Humans are susceptible to fatigue, distraction, and have trouble multitasking and driving at night or in bad weather. Wages, benefits, and insurance can also make frequent operations prohibitively expensive. Regulations specify the length of time humans may be exposed to potentially hazardous substances (such as pesticides) and the safety equipment they must wear. Furthermore, driving a tractor, especially while wearing a protective non-porous suit in 112° F. weather, which is a typical temperature in some areas during the summer, is not an appealing career and is attracting fewer and fewer employees. Tractor drivers performing work in the field (like pesticide-spraying) must drive very slowly along identical rows and stay focused on one highly repetitive task all day long. They cannot bring reading material or any other diversion because an accident can destroy crops and jeopardize the life of the driver. By nature, humans just aren’t are not as adept at maintaining focus under tedious conditions, and are arguably ill-suited for such a monotonous task.
The following embodiments and aspects thereof are described and illustrated in conjunction with systems, tools and methods which are meant to be exemplary and illustrative, not limiting in scope. In various embodiments, one or more of the above-described problems have been reduced or eliminated, while other embodiments are directed to other improvements. It is an aspect of the present invention to provide a system of guidance for an automated agriculture platform comprising: (a) a platform mounted on a means of locomotion with controls for guiding and propelling said platform; (b) one or more types of sensing apparatus mounted on said platform selected from the group consisting of a global positioning system, light detection and ranging (LIDAR), an inertial measurement unit and a touch sensor; (c) a means of decision processing for determining the position of said controls comprising a computer and/or artificial intelligence electronics; (d) a means of communication between said sensing apparatus and said central processing unit and/or artificial intelligence electronics; and (e) a means of communication between said central processing unit and/or artificial intelligence electronics and said controls mounted on said platform.
It is another aspect of the present invention to provide a system where the system platform is selected from the group consisting of a tractor, an all-terrain vehicle, a jeep, a truck, and a tracked vehicle.
It is another aspect of the present invention to provide a system wherein the system controls are a velocity pedal actuator and a steering actuator.
It is another aspect of the present invention to provide a system wherein means of decision processing is determined by performing an analysis of: (a) the state estimation of the platform; (b) the cross tracker of the platform; (c) the motion control of the platform; and (d) the platform’s actuator control.
It is another aspect of the present invention to provide a system wherein the state estimation is calculated by analyzing the actual state of said platform with the desired state of said platform.
It is another aspect of the present invention to provide a system wherein the actual state for the state estimation calculation is established using data selected from the group consisting of the global positioning system, the LIDAR, and said inertial measurement unit.
It is another aspect of the present invention to provide a system wherein the cross tracker is a calculation that is designed to create a perpendicular error line from said platform’s current position in relation to said platform’s desired path.
It is another aspect of the present invention to provide a system wherein the cross tracker calculation is established using data selected from the group consisting of said global positioning system, the LIDAR, and said inertial measurement unit.
It is another aspect of the present invention to provide a system wherein the motion control of the platform is based on the determination of the desired position for the steering actuator as well as the velocity pedal actuator in comparison to the actual position of the steering actuator and the velocity pedal actuator.
It is another aspect of the present invention to provide a system wherein the motion control determination is established using data selected from the group consisting of the global positioning system, the LIDAR, and the inertial measurement unit.
It is another aspect of the present invention to provide a system wherein the actuator control is determined by a steering torque and velocity pedal torque of the platform.
It is another aspect of the present invention to provide a system wherein the steering torque is established by comparing a desired steering position of said steering actuator with an actual steering position of said steering actuator.
It is another aspect of the present invention to provide a system wherein the velocity pedal torque is determined by comparing a present position of said velocity pedal actuator of said platform with a desired position of said velocity pedal actuator.
It is another aspect of the present invention to provide a system wherein an emergency stop circuit is mounted to the platform.
It is another aspect of the present invention to provide a system wherein the emergency stop circuit is triggered by an event selected from the group consisting: (a) the pressing of a manual emergency stop button; (b) said touch sensor is triggered; (c) the LIDAR senses an object in said platforms path; (d) the computer and/or artificial intelligence electronics is not in a ready state; and (e) the platform is in manual mode.
It is another aspect of the present invention to provide a system wherein the platform is manually driven through a pathway and the sensor or sensors gather data and communicates the data to the central processing unit.
It is another aspect of the present invention to provide a method of guidance for an automated agriculture platform on
