Patent Application
20200000002
The current invention relates to the field of autonomous, modular, ground utility robots that can be used to perform a variety of tasks and that ideally use clean sources of energy to power the devices and their apparatus. More specifically, it relates to an autonomous, cooperative machine, in the form of a ground utility robot, that is deployed for service work and that performs a variety of tasks or functions. More specifically still it relates to a system working in conjunction with the ground utility robot to engage and disengage accessories and implements, such as movers, combines, plows, and the like to and from the robot, using a hitch system.
There is a great need to have robots assist in our daily lives. As technology advances it is now envisionable that robots can and will perform many of the mundane tasks and chores that we as humans routinely perform in our daily lives. Already used abundantly in manufacturing, the personal “bot” has not quite made it into our lives much past the Roomba® cleaner by iRobot®. There are multitudes of applications for a mobile robot, including but not limited to snow removal, transporter, ground aeration, plant watering, feeding and fertilizing, crop monitoring, corn de-tasseling, crop harvesting which might include picking beans, berries, apples, pears, grapes, etc., grounds security, weather reporting, livestock surveillance and monitoring (for example, if an animal in the pasture is sick or injured the bot could report back to the farmer that there is a problem), debris cleanup and removal and a variety of other tasks and chores now performed by humans. Thus, there is a need to have bots assist us in our daily lives. Furthermore, many of these functions require attaching an accessory or implement to the robot to perform the task. This invention provides an easy, automatic means of engaging and disengaging the accessory or implement to and from the ground utility robot that works in an unstructured environment and that does not require any human interface or assistance.
The invention is an implement mating, attachment and detachment system for use with a ground utility robot, working in an unstructured environment, that automatically couples and decouples implements, accessories and attachments to and from the ground utility robot using a mating interface.
As shown in
In the present invention the robot 1 locates and attaches to external implements 7 in an open field, a yard, a barn or anywhere the robot 1 is required to perform a task. In this open environment the robot is instructed or requested by a user or operator or by preprogrammed command. The robot obtains an idea of the location of the implement by polling historical data. That is, remembering where it left the implement the last time it was used, or by referencing user input. The robot then navigates to the implement using GPS location data. The robot uses camera input and computer vision techniques to initially locate the implement. Once located and after instruction to engage with the implement, the robot will approach the implement 7. The robot can either connect using collected and stored information or it can detect a special identification tag 10 placed on the implement at a specific location or on a specific spot relative to the implement's coupling interface. This is ideally near the coupling location. If the identification tag 10 is used then the robot will locate the identification tag 10 and will then line itself up to the implement 7 for attachment or coupling. Attachment is done using the following steps. The robot first lowers quick hitch hooks below the level of the implement's quick hitch connectors; it positions itself using stored data and/or the identification tag 10; then raises the quick hitch to capture the implement via connecting points. After attachment the robot 1 can then perform its assigned task, such as plowing, mowing, planting, or any other task, utilizing the implement 7. When the work is complete the robot 1 can detach from the implement 7 and leaves the implement in a defined location.
In general, this invention is a system to automatically connect and disconnect the implement, using a three point hitch, to the ground utility robot. Specifically, this is an automatic implement attachment and detachment system made up of a ground utility robot 1 having at least one sensor 2, a computer processor 12, and computer memory 13; a quick hitch attachment apparatus 3 having a body 4 securable to the ground utility robot 1, and at least one mateable connection part 5, where all of these connecting parts are mateable to an implement 7 where the implement 7 has at least an implement body 8, at least one connection member 9 that is mateably connectable to the at least one quick hitch apparatus connection part and where the implement attachment system is configured to automatically attach and detach the implement 7 to and from the ground utility robot 1. In this particular embodiment it is further envisioned there is a locking device 6 that can lock the at least one connection part 5 to the at least once connection member 9 after they are mateably connected. The locking device 6 can be manually operated or mechanically operated, but ideally this locking device 6 is an electronically actuated locking mechanism. In one embodiment this locking device 6 is located at two points and automatically locks the at least one connection member 9 to the at least one connection part 5 once joined.
In one embodiment based on the above, the quick hitch attachment apparatus 3 has three connection points that are matingly connectable to a 3-point attachment apparatus 8 on the implement 7. This is commonly known as a 3-point hitch. In this configuration there is a first connection point 13 having a first connection part 14 located at a top of the quick hitch attachment apparatus body 4 that is connectable to a mating first connection member 15 located at a top of the implement 7. In one configuration this connection point does not lock, but in a different configuration can be lockable if desired. Rather, it is generally a type of hooking attachment where the first connection part 14 located on the quick hitch attachment apparatus is a hook and the first connection member 15 is a pin or some other element that is received by or captured by the connection part 14 hook. Next, there is a second connection point 16 having a second connection part 17 located at a first lower side of the quick hitch body 4 and that is connectable to a mating second connection member 18 located at a lower first side of the implement 7. Finally there is a third connection point 19 having a third connection part 20 located at a second lower side of the quick hitch body 4 and that is connectable to a mating third connection member 21 located at a lower second side of the implement 7. In typical operation, the second and third connection parts 17, 20 are hooks that are located on either side of the 3-point hitch quick hitch body 4 and the second and third connection members 18, 21 are pins that are located on either side of the implement 7 that are received by and then secured to or within the second and third connection parts 17, 20 of the three point hitch body, as shown in
As mentioned above, in common terms this is typically called a three-point hitch. In order to secure the quick hitch attachment apparatus 3 to the mating parts of the 3-point implement attachment apparatus all of the connection parts need to connect to the attachment members. Also as noted above, the first connection member 15 and connection part 14 located at the top of the hitch and implement do not typically lock in place. It is usually a member that drops into a hook. The top connector typically is not locked in place but could be locked if configured to lock and this lock could also be manual or automatically activated.
However, the lower connection parts 17, 20 and connection members 18, 21 are basically the opposite configuration of parts 15, 14 where the pins are now located on the implement and are insertable to hooks on the 3-point hitch and these members should lock in place in order to prevent accidental disengagement of the implement 7 from the quick hitch attachment 3. In one embodiment these locks could be manually lockable. Ideally though, as shown in
Ideally these locking devices 6 are positioned at each of the two lower connection points 16, 19 to secure the connection parts 17, 20 and connection members 18, 21 one to another and to prohibit the implement 7 from accidental disengagement from the body 4 and the robot 1. The electronically actuated locking device 6 on the quick hitch consists of the pivoted retaining member or members 22 and the electric linear actuator member or members 23 that is controlled by the robot. It could configured so that only one side has a locking system but ideally the actuators and retaining members would be located on both sides and at both lower connection points. When the electric linear actuator members 23 are retracted, the retaining members 22 are pivoted out of the way in order to allow the connection parts 17, 20 on the implement 7 to enter or exit the hooks, or connection members 18, 21 on the quick hitch. When the linear actuators are extended, the retaining members 22 are pivoted out and thus keep the implement locked and secured to the quick hitch as shown in
The system explained above ideally has at least one sensor 2. It is possible to have multiple sensors in order to assist in the engagement/disengagement operations and these sensors could be of numerous types, such as a 3D camera, an infrared camera, a heat sensor, a microphone, or any of a variety of sensors that could assist in connecting and disconnecting the implement 7. In one embodiment this sensor 2 is a camera that is used to recognize the implement 7. The camera 2 is ideally placed in clear view of the implement 7 so that it can view and collect data from the area immediately around the implement and the implement 7. Data is collected each time the robot 1 interacts with the implement 7 so that over time the robot can recognize the implement. All the data collected is recorded to the computer member 12 and the processor 11 processes the data and then learns how to better recognize the implement. Ideally the data collected can be processed and organized so that eventually the automatic implement attachment and detachment system will learn different types of implements and that over time the system will recognize the different implements and it will then use the past data to assist in engaging, attaching and detaching the different implements to and from the system.
This type of system generally requires training. Using the data collected by the camera will help the system to learn, however, in another embodiment the system also incorporates the identification tag 10, as mentioned above and as shown in
In the embodiment utilizing the identification tag 10, the tag is encoded with implement specific information that is received and captured by the camera 2 whereby the camera reads the data and then transmits the data to the processor 11 and the memory 12 to enable automatic attachment and detachment of the implement 7 to and from the ground utility robot 1. After the information is received the processor 11 utilizes the identification tag information and continually combines this pre-existing, formatted data with newly acquired data that is continually compiled and uploaded to the memory 12 each time the utility robot 1 attaches and de-attaches from the implement 7 so that the memory 12 eventually has enough data to enable attachment and detachment of the implement 7 without using the identification tag 10. This learning works for every implement and eventually all implements or attachments will be connectable and disengageable without the additional data tag data or user supplied data. When this learning is accomplished the system will no longer require the data tag and it can eventually be removed from the implement.
The coupling or engagement procedure is described next. As mentioned above, the user typically initiates the command and then the robot 1 locates the specific implement desired for the chore, job or task requested. After locating the implement 7, using either the tag 10 or remembered data, the robot 1 lowers the quick hitch attachment apparatus 3 of the body 4 that has the three connection points. In one embodiment these connection parts of the body are hooks, as shown in
Once in proper position the robot 1 recognizes proper alignment and, if it is using the electronically actuated locking members 6 it sends a command to the linear actuators 23 to close the quick hitch latches with the pivoting retaining member 22, or in other words, it activates the electronically activated locking devices 6 to lock and secure the implement 7 to the robot 1, as shown in
Furthermore, the processing elements within the robot's processor 12 contribute to detection robustness by using a variety of filtering techniques on the sensory input. The tag information discerned by the processor 12 is used to drive the actuation behavior of the robot 1 as it interfaces with and uses the implement 7. Variations in implement interfaces, usage techniques, or safety considerations can be encoded in tag data and understood by the services that govern the robot's behavior and this can continually be supplemented with new data acquired through continual operation as explained above.
As taught, the robot could have manually operated connectors and locking apparatus but ideally the robot 1 uses actuators to automate all previously manual interfacing steps. As noted above, the typical apparatus to connect a tractor to the implement is a 3-point hitch, or a quick hitch 3. In one embodiment of the present invention the quick hitch 3 utilizes the simple hook and pin system as is present in most 3-point hitch systems. The hooks as previously described are located on the body 4 that is connected to the robot 1. The hooks are engageable with the three mating pins, located on the implement 7 and previously had to be locked in place manually. In the preferred embodiment these hooks are locked in place using the electronically activated locks 6 as just described.
It should also be noted that the sensor 2 is not limited to only a camera. It could be a variety of sensors, including a camera, an infrared camera, a microphone, a thermometer, or any other type of sensor that senses distance, time, weather, terrain, field or soil conditions, or any other condition. Having a variety of sensors allows the robot to be used for a variety of other purposes aside from simply pulling an implement. For example, current weather conditions can be monitored, soil conditions can be monitored, or the robot could be used as a predator deterrent. These are just a few examples and more are provided in U.S. patent application Ser. No. 16/024,450 filed Jun. 29, 2018 entitled AUTONOMOUS MOBILE PLATFORM WITH HARVESTING SYSTEM AND PEST AND WEED SUPPRESSION SYSTEMS.
The present invention not only teaches the apparatus but the steps and method of connecting the implement 7 to the hitch 3 as described above. The method of connection is entirely different from the current technology because it is entirely automated and because it can be performed in an unstructured environment.
In summary, the system uses a software program to employ the connection between the robot 1 and the implement 7. The robot 1 utilizes the onboard processor 11 to run the software and the onboard memory 12 to store the data. The software running on the robot 1 processes the inbound sensor data to extract the tag information whereby the system then acts on this information to navigate the robot 1 and actuate its interfaces. Thus, the system enables the robot 1 to sense and interpret tags 10, navigate in unstructured environments, and actuate the hitching interface automatically. Everything in the system is performed without human intervention.
All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and/or ordinary meanings of the defined terms.
The indefinite articles “a” and “an,” as used herein in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean “at least one.”
The phrase “and/or,” as used herein in the specification and in the claims, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with “and/or” should be construed in the same fashion, i.e., “one or more” of the elements so conjoined. Other elements may optionally be present other than the elements specifically identified by the “and/or” clause, whether related or unrelated to those elements specifically identified.
As used herein in the specification and in the claims, “or” should be understood to have the same meaning as “and/or” as defined above. For example, when separating items in a list, “or” or “and/or” shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items.
Only terms clearly indicated to the contrary, such as “only one of” or “exactly one of,” or, when used in the claims, “consisting of,” will refer to the inclusion of exactly one element of a number or list of elements. In general, the term “or” as used herein shall only be interpreted as indicating exclusive alternatives (i.e. “one or the other but not both”) when preceded by terms of exclusivity, such as “either,” “one of,” “only one of,” or “exactly one of.”
As used herein in the specification and in the claims, the phrase “at least one,” in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements. This definition also allows that elements may optionally be present other than the elements specifically identified within the list of elements to which the phrase “at least one” refers, whether related or unrelated to those elements specifically identified.
It should also be understood that, unless clearly indicated to the contrary, in any methods claimed herein that include more than one step or act, the order of the steps or acts of the method is not necessarily limited to the order in which the steps or acts of the method are recited.
In the claims, as well as in the specification above, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” “composed of,” and the like are to be understood to be open-ended, i.e., to mean including but not limited to.
While several inventive embodiments have been described and illustrated herein, those of ordinary skill in the art will readily envision a variety of other means and/or structures for performing the function and/or obtaining the results and/or one or more of the advantages described herein, and each of such variations and/or modifications is deemed to be within the scope of the inventive embodiments described herein. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and/or configurations will depend upon the specific application or applications for which the inventive teachings is/are used. Those skilled in the art will recognize or be able to ascertain using no more than routine experimentation, many equivalents to the specific inventive embodiments described herein. It is, therefore, to be understood that the foregoing embodiments are presented by way of example only and that, within the scope of the appended claims and equivalents thereto, inventive embodiments may be practiced otherwise than as specifically described and claimed. Inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, kit, and/or method described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, and/or methods, if such features, systems, articles, materials, kits, and/or methods are not mutually inconsistent, is included within the inventive scope of the present disclosure.
This application claims the benefit of U.S. provisional patent application Ser. No. 62/612,297, filed Dec. 29, 2017 and entitled AUTONOMOUS MODULAR GROUND UTILITY ROBOT SYSTEM; U.S. non-provisional patent application Ser. No. 16/024,450 filed Jun. 29, 2018 entitled AUTONOMOUS MOBILE PLATFORM WITH HARVESTING SYSTEM AND PEST AND WEED SUPPRESSION SYSTEMS; U.S. Design patent application Ser. No. 29/665,575, filed Oct. 4, 2018, entitled AUTONOMOUS MOBILE PLATFORM; previously filed PCT application number PCT/US2018/067458 filed on Dec. 24, 2018; and previously filed U.S. Provisional patent application, Ser. No. 62/820,375 filed on Mar. 19, 2019 all incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| 62820375 | Mar 2019 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 16024450 | Jun 2018 | US |
| Child | 16405282 | US | |
| Parent | 29665575 | Oct 2018 | US |
| Child | 16024450 | US | |
| Parent | PCT/US2018/067458 | Dec 2018 | US |
| Child | 29665575 | US |
