US 12,349,615 B2
Robotic platform and method for performing multiple functions in agricultural systems
Kent Cavender-Bares, St. Paul, MN (US); and Charles C. Bares, Ellicottville, NY (US)
Assigned to RowBot Systems LLC, Minneapolis, MN (US)
Filed by RowBot Systems LLC, Minneapolis, MN (US)
Filed on Oct. 8, 2021, as Appl. No. 17/497,051.
Application 17/497,051 is a continuation of application No. 16/188,422, filed on Nov. 13, 2018, abandoned.
Application 16/188,422 is a continuation of application No. 15/047,076, filed on Feb. 18, 2016, granted, now 10,123,473, issued on Nov. 13, 2018.
Application 15/047,076 is a continuation of application No. 13/837,786, filed on Mar. 15, 2013, granted, now 9,288,938, issued on Mar. 22, 2016.
Claims priority of provisional application 61/739,268, filed on Dec. 19, 2012.
Claims priority of provisional application 61/723,887, filed on Nov. 8, 2012.
Claims priority of provisional application 61/654,444, filed on Jun. 1, 2012.
Prior Publication US 2022/0095527 A1, Mar. 31, 2022
Int. Cl. A01B 69/04 (2006.01); A01B 19/00 (2006.01); A01B 51/02 (2006.01); A01C 7/06 (2006.01); A01C 21/00 (2006.01); A01C 23/02 (2006.01); A01C 23/04 (2006.01); G05D 1/00 (2024.01)
CPC A01B 69/008 (2013.01) [A01B 19/00 (2013.01); A01B 51/02 (2013.01); A01C 7/06 (2013.01); A01C 21/002 (2013.01); A01C 21/005 (2013.01); A01C 21/007 (2013.01); A01C 23/023 (2013.01); A01C 23/024 (2013.01); A01C 23/042 (2013.01); A01C 23/047 (2013.01); G05D 1/0088 (2013.01); Y02P 60/21 (2015.11)] 19 Claims
OG exemplary drawing
 
1. An autonomous vehicle platform system for selectively applying at least one of herbicide, pesticide or fungicide in an agricultural field planted with rows of an annual crop spaced not more than thirty-six inches apart, the autonomous vehicle platform system comprising:
one or more unmanned, autonomous vehicle platforms, wherein each autonomous vehicle platform comprises:
a base operably coupled to a plurality of ground engaging wheels or tracks, the base having a width so dimensioned as to be insertable through the space defined between two adjacent rows of the annual crop,
a navigation module carried by the base, the navigation module communicatively coupled to at least one navigation sensor, which receives field orientation information from a variety of inputs acquired by at least one of one or more onboard cameras, radio communications, or global positioning system GPS units to determine a precise location of the individual rows of planted crops, and
a microprocessor in communication with the navigation module, the microprocessor programmed with a self-direction program to autonomously navigate the autonomous vehicle platform within the space between two adjacent rows of the annual crop spaced not more than thirty-six inches apart with a nominal spacing between respective sides of the base and the rows of the annual crops of not more than five inches when the autonomous vehicle platform is centered between the two adjacent rows of annual crops, and to avoid obstacles, including other autonomous vehicle platforms, while selectively applying at least one of herbicide, pesticide or fungicide within the agricultural field;
wherein the self-direction program is configured to be managed and selectively overridden by a user via at least one of a smartphone, tablet or interface on base station or personal computer, and
wherein the microprocessor is configured to halt movement of the autonomous vehicle platform at a first monitoring location to take a first set of measurements and at a second monitoring location to take a second set of measurements, wherein the microprocessor is configured to analyze the first and second sets of measurements to determine variations between the first and second sets, wherein the microprocessor is configured to increase or decrease a distance between the second monitoring location and a subsequent third monitoring location based on the variations between the first and second sets of measurements, wherein the first and second sets of measurements are communicated to the microprocessor for selective application of the at least one of herbicide, pesticide or fungicide at the subsequent third monitoring location based on the first and second sets.