US20190069496A1

US20190069496A1 - Robotic irrigation system and devices

Info

Publication number: US20190069496A1
Application number: US16/114,829
Authority: US
Inventors: Joseph Wofford
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-09-07
Filing date: 2018-08-28
Publication date: 2019-03-07
Also published as: US10595477B2; US20190074176A1

Abstract

A robotic irrigation system enables autonomous control and manipulation of irrigation systems to eliminate the need to manually reconfigure and move the elements of the irrigation systems. In some embodiments, the system may include a robotic-enhanced coupling and valve assembly (RECVS) and a robotic assisted movement platform (RAMP) having a robotic appendage control module (RACM), a robotic object lifting appendage (ROLA), a robotic object manipulation appendage (ROMA). The RECVS may comprise one or more valves which may be manipulated by the RAMP to control the supply of water to the lateral move irrigation system via the ROLA and ROMA of the RAMP. Additionally, the ROLA and ROMA may enable the RAMP to connect, disconnect, and move one or more sections of a lateral move irrigation system thereby allowing the irrigation system to be reconfigured for different areas of a property or location that the irrigation system is positioned on.

Description

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to and the benefit of the filing date of U.S. Provisional Application No. 62/555,195, filed on Sep. 7, 2017, entitled “ROBOTIC IRRIGATION SYSTEM AND DEVICES”, which is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION

This patent specification relates to the field of systems and devices for providing irrigation. More specifically, this patent specification relates to systems and devices for providing autonomous control and manipulation of irrigation systems, such as lateral move irrigation systems.

BACKGROUND

Irrigation systems are widely used to provide water for irrigation purposes to tracts of land of various shapes and sizes. Lateral move irrigation systems (LMIS), also referred to as “side roll” or “wheel line” systems, are quite common due to their low cost and their ease of being configured to accommodate tracts of land of various shapes and sizes. Typically, a LMIS includes a series of pipes, each with a wheel of about 1.5 m diameter permanently affixed to its midpoint, and sprinklers along its length, are coupled together. Water is supplied at one end using a large hose. After sufficient irrigation has been applied to one strip of the field, the hose is removed, the water drained from the system, and the assembly rolled either by hand or with a purpose-built mechanism, so that the sprinklers are moved to a different position across the field and the hose is reconnected. The process is repeated in a pattern until the whole field has been irrigated. This system is less expensive to install than a center pivot, but much more labor-intensive to operate—it does not travel automatically across the field: it applies water in a stationary strip, must be drained, and then rolled to a new strip. Most systems use 4 or 5-inch (130 mm) diameter aluminum pipe. The pipe doubles both as water transport and as an axle for rotating all the wheels. A drive system (often found near the center of the wheel line) rotates the clamped-together pipe sections as a single axle, rolling the whole wheel line. Manual adjustment of individual wheel positions may be necessary if the system becomes misaligned.
Unfortunately, a LMIS is very labor intensive. Most users of this type of system must disconnect the system from a water supply, drain water from the system, roll the system either by hand or with a purpose-built mechanism to a new location, and then reconnect the system to a water supply. This procedure is often required to be repeated one or more times a week if not every day. Much time and manual labor is expended by the average user of a LMIS. The single biggest disadvantage to LMIS is that—for the entire duration of the irrigation season—LMIS have an absolute requirement that manual labor be used to move them one or more times per day. Stated differently, the biggest cost associated with LMIS is a non-negotiable time requirement for manual labor, and time is an exceptionally valuable commodity. Even if the labor cost is acceptable, that still does not account for the opportunity cost of spending time to manually move (e.g. spending time on other core agribusiness competencies, spending time with family, etc.).
Therefore, a need exists for a novel systems and devices for providing autonomous control and manipulation of irrigation systems, such as lateral move irrigation systems. There is also a need for novel systems and devices for providing autonomous control and manipulation of irrigation systems which do not require the owner or user to manually reconfigure and move the elements of the irrigation systems. A further need exists, for novel systems and devices for providing autonomous control and manipulation of irrigation systems which are able to provide increased water usage efficiency.

BRIEF SUMMARY OF THE INVENTION

A robotic irrigation system is provided which may be used to connect, disconnect, and move one or more sections of a lateral move irrigation system. The system provides autonomous control and manipulation of irrigation systems thereby eliminating the requirement for the owner or user to manually reconfigure and move the elements of the irrigation systems.
In some embodiments, the system may include a robotic assisted movement platform (RAMP) having a robotic appendage control module (RACM), a robotic object lifting appendage (ROLA), and a robotic object manipulation appendage (ROMA). The RACM of the RAMP may be configured to manipulate the lateral move irrigation system section via the ROLA and the ROMA. A robotic-enhanced coupling and valve assembly (RECVS) may be in fluid communication with the water supply line and the lateral move irrigation system section. The RECVS may have a valve configured to be manipulated by the ROLA and ROMA of the RAMP to govern the ability of water to pass through the lateral move irrigation system section from the water supply line. A system mover control module (SMCM) may be in communication with both the irrigation system mover unit and the RAMP, and the SMCM may direct the movement of the irrigation system mover unit and may communicate instructions to the RAMP describing how the RAMP is to manipulate the lateral move irrigation system section.
In further embodiments, the system may include a central control server (CCS), and the CCS may communicate a movement schedule for the lateral move irrigation system to the SMCM.
In still further embodiments, a RAMP of the system may be reconfigurable between a first configuration and a second configuration. The first configuration may comprise an air transportation conveyance configured to enable the RAMP to fly to a destination, and the second configuration may comprise a ground transportation conveyance configured to enable the RAMP to move across a ground surface.
In still further embodiments, a RAMP of the system may comprise a power source, and the RAMP may be configured to replenish and/or to replace the power source via the ROLA and ROMA.

BRIEF DESCRIPTION OF THE DRAWINGS

Some embodiments of the present invention are illustrated as an example and are not limited by the figures of the accompanying drawings, in which like references may indicate similar elements and in which:

FIG. 1 shows an illustrative example of some of the components and computer implemented methods which may be found in a system according to various embodiments described herein.

FIG. 2 illustrates a block diagram showing an example of a server which may be used by the system as described in various embodiments herein.

FIG. 3 depicts a block diagram showing an example of a client device which may be used by the system as described in various embodiments herein.

FIG. 4 shows a block diagram illustrating some components of an example of a robotic assisted movement platform as described in various embodiments herein.

FIG. 5 illustrates a block diagram illustrating an example of a processing unit of a robotic assisted movement platform as described in various embodiments herein.

FIG. 6 depicts a perspective view of an exemplary robotic assisted movement platform (RAMP) which may be used by the system as described in various embodiments herein.

FIG. 7 shows a perspective view of another exemplary robotic assisted movement platform (RAMP) which may be used by the system as described in various embodiments herein.

FIG. 8 illustrates a perspective view of a robotic assisted movement platform (RAMP) that is reconfigurable between a first configuration and a second configuration according to various embodiments described herein.

FIG. 9 depicts a partial perspective view of a robotic assisted movement platform (RAMP) replenishing and/or replacing its power source and an exemplary robot launch and recovery platform (RLRP) according to various embodiments described herein.

DETAILED DESCRIPTION OF THE INVENTION

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well as the singular forms, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.
The specific devices and processes illustrated in the attached drawings, and described in the following specification, are simply exemplary embodiments of the inventive concepts defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, unless the claims expressly state otherwise.
Although the terms “first”, “second”, etc. are used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, the first element may be designated as the second element, and the second element may be likewise designated as the first element without departing from the scope of the invention.
As used in this application, the term “about” or “approximately” refers to a range of values within plus or minus 10% of the specified number. Additionally, as used in this application, the term “substantially” means that the actual value is within about 10% of the actual desired value, particularly within about 5% of the actual desired value and especially within about 1% of the actual desired value of any variable, element or limit set forth herein.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one having ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Definitions

As used herein, the term “computer” refers to a machine, apparatus, or device that is capable of accepting and performing logic operations from software code. The term “application”, “software”, “software code” or “computer software” refers to any set of instructions operable to cause a computer to perform an operation. Software code may be operated on by a “rules engine” or processor. Thus, the methods and systems of the present invention may be performed by a computer or computing device having a processor based on instructions received by computer applications and software.
The term “client device” as used herein is a type of computer or computing device comprising circuitry and configured to generally perform functions such as recording audio, photos, and videos; displaying or reproducing audio, photos, and videos; storing, retrieving, or manipulation of electronic data; providing electrical communications and network connectivity; or any other similar function. Non-limiting examples of electronic devices include: personal computers (PCs), workstations, laptops, tablet PCs including the iPad, cell phones including iOS phones made by Apple Inc., Android OS phones, Microsoft OS phones, Blackberry phones, digital music players, or any electronic device capable of running computer software and displaying information to a user, memory cards, other memory storage devices, digital cameras, external battery packs, external charging devices, and the like. Certain types of electronic devices which are portable and easily carried by a person from one location to another may sometimes be referred to as a “portable electronic device” or “portable device”. Some non-limiting examples of portable devices include: cell phones, smartphones, tablet computers, laptop computers, wearable computers such as Apple Watch, other smartwatches, Fitbit, other wearable fitness trackers, Google Glasses, and the like.
The term “computer readable medium” as used herein refers to any medium that participates in providing instructions to the processor for execution. A computer readable medium may take many forms, including but not limited to, non-volatile media, volatile media, and transmission media. Non-volatile media includes, for example, optical, magnetic disks, and magneto-optical disks, such as the hard disk or the removable media drive. Volatile media includes dynamic memory, such as the main memory. Transmission media includes coaxial cables, copper wire and fiber optics, including the wires that make up the bus. Transmission media may also take the form of acoustic or light waves, such as those generated during radio wave and infrared data communications.
As used herein the term “data network” or “network” shall mean an infrastructure capable of connecting two or more computers such as client devices either using wires or wirelessly allowing them to transmit and receive data. Non-limiting examples of data networks may include the internet or wireless networks or (i.e. a “wireless network”) which may include Wifi and cellular networks. For example, a network may include a local area network (LAN), a wide area network (WAN) (e.g., the Internet), a mobile relay network, a metropolitan area network (MAN), an ad hoc network, a telephone network (e.g., a Public Switched Telephone Network (PSTN)), a cellular network, or a voice-over-IP (VoW) network.
As used herein, the term “database” shall generally mean a digital collection of data or information. The present invention uses novel methods and processes to store, link, and modify information such digital images and videos and user profile information. For the purposes of the present disclosure, a database may be stored on a remote server and accessed by a client device through the internet (i.e., the database is in the cloud) or alternatively in some embodiments the database may be stored on the client device or remote computer itself (i.e., local storage). A “data store” as used herein may contain or comprise a database (i.e. information and data from a database may be recorded into a medium on a data store).
In describing the invention, it will be understood that a number of techniques and steps are disclosed. Each of these has individual benefit and each can also be used in conjunction with one or more, or in some cases all, of the other disclosed techniques. Accordingly, for the sake of clarity, this description will refrain from repeating every possible combination of the individual steps in an unnecessary fashion. Nevertheless, the specification and claims should be read with the understanding that such combinations are entirely within the scope of the invention and the claims.
A new robotic irrigation system and devices are discussed herein. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be evident, however, to one skilled in the art that the present invention may be practiced without these specific details.
The present disclosure is to be considered as an exemplification of the invention, and is not intended to limit the invention to the specific embodiments illustrated by the figures or description below.
The present invention will now be described by example and through referencing the appended figures representing preferred and alternative embodiments. As perhaps best shown by FIG. 1, an illustrative example of some of the physical components which may comprise a robotic irrigation system (“the system”) 100 according to some embodiments is presented. The system 100 may be configured to provide autonomous control and manipulation of an irrigation system, such as a lateral move irrigation system (LMIS) 110 (also referred to as “side roll” or “wheel line” systems). Typically, a LMIS 110 comprises one or more lateral move irrigation system sections 111 and irrigation system mover units (ISMU) 112. A lateral move irrigation system section 111 may include a section of pipe, having a wheel 115 of about 1.5 m diameter permanently affixed to its midpoint, and sprinklers 116 along its length. The lateral move irrigation system sections 111 are coupled together and water is supplied at one end using a large hose 113 or other conduit which may be connected to a water supply line 114. While the example water supply line 114 of FIG. 1 is shown located at an end of the LMIS 110, it should be understood that a water supply line 114 may be positioned anywhere on a tract of land serviced by a LMIS 110. An ISMU 112 may be a powered unit positioned optionally at the center of the LMIS 110 that performs the physical forward and reverse movement of the entire irrigation system.
In some embodiments, the system 100 is configured to transfer data and information preferably between one or more access points 103, robotic assisted movement platforms (RAMP) 130, robotic-enhanced coupling and valve assemblies (RECVS) 160, system mover control modules (SMCM) 161, robot launch and recovery platforms (RLRP) 162, client devices 400, and servers 300, 300A, over a data network 105. Each RAMP 130, RECVS 160, SMCM 161, RLRP 162, server 300, 300A, and client device 400 may send data to and receive data from a data network, such as the internet 105 and/or a wireless control network (WCN) 106 through a wired or wireless network connection 104 via an access point 103. A WCN 106 may comprise a wireless communications network that facilitates high-reliability command and control communications between components of the system 100 at a location having a LMIS 110. Preferably, a WCN 106 may be independent from—but has a gateway to—the internet 105. One or more data store 308 accessible by the servers 300, 300A, may contain one or more databases, such as a subscribed irrigation control service database 330.
In this example, the system 100 comprises at least one client device 400 (but preferably more than two client devices 400) configured to be operated by one or more users, such as a lateral move irrigation system owner and/or operator (LMIS-O) 101 and system service representatives 102. Client devices 400 can be mobile devices, such as laptops, tablet computers, personal digital assistants, smart phones, and the like, that are equipped with a wireless network interface capable of sending data to one or more servers 300, 300A, with access to one or more data stores 308 over a network 105 such as a wireless local area network (WLAN). Additionally, client devices 400 can be fixed devices, such as desktops, workstations, and the like, that are equipped with a wireless or wired network interface capable of sending data to one or more servers 300, 300A, with access to one or more data stores 308 over a wireless or wired local area network 105. The present invention may be implemented via at least one RAMP 130, RECVS 160, SMCM 161, RLRP 162, server 300, 300A, and client device 400 programmed to perform one or more of the steps described herein. In preferred embodiments, more than one RAMP 130, RECVS 160, SMCM 161, RLRP 162, server 300, 300A, and/or client device 400 may be used, with each being programmed to carry out one or more functions as described herein.
Referring now to FIG. 2, in an exemplary embodiment, a block diagram illustrates a server 300, 300A, of which one or more may be used in the system 100 or standalone and which may be a type of computing platform. In preferred embodiments, the system 100 may comprise a central control server 300A which may comprise one or more server systems appearing as a single server on an internet domain name. A central control server 300A may be a type of server 300 that may contain or have access to a subscribed irrigation control service database 330 of the system 100.
A server 300, 300A, may be a digital computer that, in terms of hardware architecture, generally includes a processor 302, input/output (I/O) interfaces 304, a network interface 306, a data store 308, and memory 310. It should be appreciated by those of ordinary skill in the art that FIG. 2 depicts a server 300, 300A, in an oversimplified manner, and a practical embodiment may include additional components and suitably configured processing logic to support known or conventional operating features that are not described in detail herein. The components (302, 304, 306, 308, and 310) are communicatively coupled via a local interface 312. The local interface 312 may be, for example but not limited to, one or more buses or other wired or wireless connections, as is known in the art. The local interface 312 may have additional elements, which are omitted for simplicity, such as controllers, buffers (caches), drivers, repeaters, and receivers, among many others, to enable communications. Further, the local interface 312 may include address, control, and/or data connections to enable appropriate communications among the aforementioned components.
The processor 302 is a hardware device for executing software instructions. The processor 302 may be any custom made or commercially available processor, a central processing unit (CPU), an auxiliary processor among several processors associated with the server 300, 300A, a semiconductor-based microprocessor (in the form of a microchip or chip set), or generally any device for executing software instructions. When the server 300, 300A, is in operation, the processor 302 is configured to execute software stored within the memory 310, to communicate data to and from the memory 310, and to generally control operations of the server 300, 300A, pursuant to the software instructions. The I/O interfaces 304 may be used to receive user input from and/or for providing system output to one or more devices or components. User input may be provided via, for example, a keyboard, touch pad, and/or a mouse. System output may be provided via a display device and a printer (not shown). I/O interfaces 304 may include, for example, a serial port, a parallel port, a small computer system interface (SCSI), a serial ATA (SATA), a fibre channel, Infiniband, iSCSI, a PCI Express interface (PCI-x), an infrared (IR) interface, a radio frequency (RF) interface, and/or a universal serial bus (USB) interface.
The network interface 306 may be used to enable the server 300, 300A, to communicate on a network, such as the Internet, the data network 105, the enterprise, and the like, etc. The network interface 306 may include, for example, an Ethernet card or adapter (e.g., 10BaseT, Fast Ethernet, Gigabit Ethernet, 10 GbE) or a wireless local area network (WLAN) card or adapter (e.g., 802.11a/b/g/n). The network interface 306 may include address, control, and/or data connections to enable appropriate communications on the network. A data store 308 may be used to store data.
The data store 308 is a type of memory and may include any of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, and the like)), nonvolatile memory elements (e.g., ROM, hard drive, tape, CDROM, and the like), and combinations thereof. Moreover, the data store 308 may incorporate electronic, magnetic, optical, and/or other types of storage media. In one example, the data store 308 may be located internal to the server 300, 300A, such as, for example, an internal hard drive connected to the local interface 312 in the server 300, 300A. Additionally in another embodiment, the data store 308 may be located external to the server 300, 300A, such as, for example, an external hard drive connected to the I/O interfaces 304 (e.g., SCSI or USB connection). In a further embodiment, the data store 308 may be connected to the server 300, 300A, through a network, such as, for example, a network attached file server.
In some embodiments a server 300, 300A, such as a central control server (CSC) 300A, may comprise a subscribed irrigation control service database 330 in an accessible data store 308. A subscribed irrigation control service database 330 may contain data which may be used by the system 100 such as a digital definition of the LMIS 110 movement patterns and services an LMIS-O 101 subscribes to. Information of the control service database 330 may include an irrigation control service subscription for each LMIS 110 and LMIS-O 101 enrolled in the system. An irrigation control service subscription may include data such as movement schedule (days/times) of the LMIS 110, geographic location and information, climate and weather data of the LMIS 110 location, and any other data which may be used by the system 100. Preferably, a CCS 300A of the system 100 may comprise a movement schedule that may be specific and unique to the topography, irrigation requirements, and LMIS 110 for a property of the LMIS-O 101. Each movement schedule may comprise data indication where and when one or more sections 111 and ISMUs 112 of a LMIS 110 should be moved by a RAMP 130.
The memory 310 may include any of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, etc.)), nonvolatile memory elements (e.g., ROM, hard drive, tape, CDROM, etc.), and combinations thereof. Moreover, the memory 310 may incorporate electronic, magnetic, optical, and/or other types of storage media. Note that the memory 310 may have a distributed architecture, where various components are situated remotely from one another, but can be accessed by the processor 302. The software in memory 310 may include one or more software programs, each of which includes an ordered listing of executable instructions for implementing logical functions. The software in the memory 310 may include a suitable operating system (O/S) 314 and one or more programs 320.
The operating system 314 essentially controls the execution of other computer programs, such as the one or more programs 320, and provides scheduling, input-output control, file and data management, memory management, and communication control and related services. The operating system 314 may be, for example Windows NT, Windows 2000, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 10, Windows Server 2003/2008 (all available from Microsoft, Corp. of Redmond, Wash.), Solaris (available from Sun Microsystems, Inc. of Palo Alto, Calif.), LINUX (or another UNIX variant) (available from Red Hat of Raleigh, N.C. and various other vendors), Android and variants thereof (available from Google, Inc. of Mountain View, Calif.), Apple OS X and variants thereof (available from Apple, Inc. of Cupertino, Calif.), or the like. The one or more programs 320 may be configured to implement one or more of the various processes, algorithms, methods, techniques, etc. described herein.
Referring to FIG. 3, in an exemplary embodiment, a block diagram illustrates a client device 400 of which one or more may be used in the system 100 or the like and which may be a type of computing platform. In some embodiments, one or more functions of the system 100 including one or more functions of a RAMP 130, RECVS 160, SMCM 161, and/or RLRP 162, may be controlled or operated by information provided by a user, such as a LMIS-O 101 or a system service representative 102 through their client device 400.
A client device 400 can be a digital device that, in terms of hardware architecture, generally includes a processor 402, input/output (I/O) interfaces 404, a radio 406, a data store 408, and memory 410. It should be appreciated by those of ordinary skill in the art that FIG. 3 depicts the client device 400 in an oversimplified manner, and a practical embodiment may include additional components and suitably configured processing logic to support known or conventional operating features that are not described in detail herein. The components (402, 404, 406, 408, and 410) are communicatively coupled via a local interface 412. The local interface 412 can be, for example but not limited to, one or more buses or other wired or wireless connections, as is known in the art. The local interface 412 can have additional elements, which are omitted for simplicity, such as controllers, buffers (caches), drivers, repeaters, and receivers, among many others, to enable communications. Further, the local interface 412 may include address, control, and/or data connections to enable appropriate communications among the aforementioned components.
The processor 402 is a hardware device for executing software instructions. The processor 402 can be any custom made or commercially available processor, a central processing unit (CPU), an auxiliary processor among several processors associated with the client device 400, a semiconductor-based microprocessor (in the form of a microchip or chip set), or generally any device for executing software instructions. When the client device 400 is in operation, the processor 402 is configured to execute software stored within the memory 410, to communicate data to and from the memory 410, and to generally control operations of the client device 400 pursuant to the software instructions. In an exemplary embodiment, the processor 402 may include a mobile optimized processor such as optimized for power consumption and mobile applications.
The I/O interfaces 404 can be used to receive data and user input and/or for providing system output. User input can be provided via a plurality of I/O interfaces 404, such as a keypad, a touch screen, a camera, a microphone, a scroll ball, a scroll bar, buttons, bar code scanner, voice recognition, eye gesture, and the like. System output can be provided via a display screen such as a liquid crystal display (LCD), touch screen, and the like. The I/O interfaces 404 can also include, for example, a global positioning service (GPS) radio, a serial port, a parallel port, a small computer system interface (SCSI), an infrared (IR) interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, and the like. The I/O interfaces 404 can include a graphical user interface (GUI) that enables a user to interact with the client device 400. Additionally, the I/O interfaces 404 may be used to output notifications to a user and can include a speaker or other sound emitting device configured to emit audio notifications, a vibrational device configured to vibrate, shake, or produce any other series of rapid and repeated movements to produce haptic notifications, and/or a light emitting diode (LED) or other light emitting element which may be configured to illuminate to provide a visual notification.
The radio 406 enables wireless communication to an external access device or network. Any number of suitable wireless data communication protocols, techniques, or methodologies can be supported by the radio 406, including, without limitation: RF; IrDA (infrared); Bluetooth; ZigBee (and other variants of the IEEE 802.15 protocol); IEEE 802.11 (any variation); IEEE 802.16 (WiMAX or any other variation); Direct Sequence Spread Spectrum; Frequency Hopping Spread Spectrum; Long Term Evolution (LTE); cellular/wireless/cordless telecommunication protocols (e.g. 3G/4G, etc.); wireless home network communication protocols; paging network protocols; magnetic induction; satellite data communication protocols; wireless hospital or health care facility network protocols such as those operating in the WMTS bands; GPRS; proprietary wireless data communication protocols such as variants of Wireless USB; and any other protocols for wireless communication.
The data store 408 may be used to store data and is therefore a type of memory. The data store 408 may include any of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, and the like)), nonvolatile memory elements (e.g., ROM, hard drive, tape, CDROM, and the like), and combinations thereof. Moreover, the data store 408 may incorporate electronic, magnetic, optical, and/or other types of storage media.
The memory 410 may include any of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, etc.)), nonvolatile memory elements (e.g., ROM, hard drive, etc.), and combinations thereof. Moreover, the memory 410 may incorporate electronic, magnetic, optical, and/or other types of storage media. Note that the memory 410 may have a distributed architecture, where various components are situated remotely from one another, but can be accessed by the processor 402. The software in memory 410 can include one or more software programs 420, such as a client software control application (CSCA) 421, each of which includes an ordered listing of executable instructions for implementing logical functions. In the example of FIG. 3, the software in the memory system 410 includes a suitable operating system (O/S) 414 and programs 420.
The operating system 414 essentially controls the execution of other computer programs, and provides scheduling, input-output control, file and data management, memory management, and communication control and related services. The operating system 414 may be, for example, LINUX (or another UNIX variant), Android (available from Google), Symbian OS, Microsoft Windows CE, Microsoft Windows 7 Mobile, Microsoft Windows 10, iOS (available from Apple, Inc.), webOS (available from Hewlett Packard), Blackberry OS (Available from Research in Motion), and the like.
The programs 420 may include various applications, add-ons, etc. configured to provide end user functionality with the client device 400. For example, exemplary programs 420 may include, but not limited to, a web browser, social networking applications, streaming media applications, games, mapping and location applications, electronic mail applications, financial applications, and the like. The programs 420 may include a client software control application (CSCA) 421 which may comprise a software application executing on irrigation system operator-provided client devices 400 (or optionally system 100 provided client devices 400) that connects to both the central control server 300A and system mover control module SMCM 161 to provide local monitoring, control and emergency-override capabilities of irrigation systems 110 to the LMIS-O 101 and/or system service representative 102. In a typical example, the end user typically uses one or more of the programs 420 and preferably the CSCA 421 to allow the user to input information into the system 100, receive information output by the system 100, and/or control functions of elements of the system 100 via their respective client device 400.
FIGS. 4-9 show an exemplary robotic assisted movement platforms (RAMP) 130 and some exemplary components of a RAMP 130 which may be used by the system 100 as described in various embodiments herein. A RAMP 130 may comprise a robotics-based platform that performs the tasks required to move objects, such as elements of an irrigation system 110, and typically (though not an absolute requirement) a RAMP 130 may be based on a drone manifestation of a robot. The RAMP 130 may be a digital device that, in terms of hardware architecture, may optionally comprise one or more machine intelligence sensor modules (MISM) 131, robotic appendage control modules (RACM) 132, robotic object lifting appendages (ROLA) 133, robotic object manipulation appendages (ROMA) 134, power sources 135, positional motivators 136, cameras 137, and processing units 140. A processing unit 140 may comprise one or more processors 141, input/output (I/O) interfaces 142, radios 143, data stores 144, memory 145, and local interfaces 146. It should be appreciated by those of ordinary skill in the art that FIGS. 4-6 depict an example of the RAMP 130 in an oversimplified manner, and a practical embodiment may include additional components or elements and suitably configured processing logic to support known or conventional operating features that are not described in detail herein.
The components and elements (131, 132, 133, 134, 135, 136, 137, 140, 141, 142, 143, 144, 145) may be communicatively coupled via a local interface 146. The local interface 146 can be, for example but not limited to, one or more buses, wiring harnesses, circuit boards, or any other wired or wireless connections, as is known in the art. The local interface 146 can have additional elements, which are omitted for simplicity, such as controllers, buffers (caches), drivers, repeaters, and receivers, among many others, to enable communications. Further, the local interface 146 may include address, control, and/or data connections to enable appropriate communications among the aforementioned components.
Optionally, the RAMP 130 may comprise a power source 135 which may provide electrical power to any component of the RAMP 130 that may require electrical power. A power source 135 may comprise a battery, such as a lithium ion battery, nickel cadmium battery, alkaline battery, or any other suitable type of battery, a fuel cell, a capacitor, a super capacitor, or any other type of energy storing and/or electricity releasing device. In further embodiments, a power source 135 may comprise a power cord, kinetic or piezo electric battery charging device, a solar cell or photovoltaic cell, and/or inductive charging or wireless power receiver. In further embodiments, a power source 135 may comprise a power charging and distribution module which may be configured to control the recharging of the power source 135, discharging of the power source 135, and/or distribution of power to one or more components of a RAMP 130 that may require electrical power. In further embodiments the components and elements (131, 132, 133, 134, 135, 136, 137, 140, 141, 142, 143, 144, 145) may be combined to operate in a way that allows RAMP 130 to perform self-charging, self-recharging and self-swapping of one or more power source 135 units as discussed below. Optionally, a power source 135 may comprise an engine capable of running on fossil fuel, such as a gasoline engine or turbine engine, which may optionally be configured to also generate electrical energy.
The RAMP 130 may comprise and/or be removably coupled to one or more positional motivators 136 and transportation conveyances 138, 139. A positional motivator 136 may comprise a component of the RAMP 130 that is responsible for moving or controlling a mechanism or system. In some embodiments, a positional motivator 136 may be configured to move the RAMP 130 to one or more locations via one or more transportation conveyances 138, 139. A transportation conveyance 138, 139, may comprise any device or method which may be configured to interact with the environment proximate to a RAMP 130 to enable the RAMP 130 to move around in the environment. For example and as shown in FIGS. 1 and 6-8, a RAMP 130 may comprise a positional motivator 136 coupled to an air transportation conveyance 138, such as a propeller, rotor, turbine, etc., which is configured to enable the RAMP 130 to move through the air or fly to a destination. As another example and as shown in FIG. 8, a RAMP 130 may comprise a positional motivator 136 coupled to a ground transportation conveyance 139, such as a wheel, track or tread, etc., which is configured to enable the RAMP 130 to move across a ground surface to a destination.
In some embodiments, a positional motivator 136 may be configured to move an element of the RAMP 130 relative to another element of the RAMP 130. For example, a positional motivator 136 may comprise an electric motor or other actuator which may enable the robotic object lifting appendage (ROLA) 133 to be moved in a desired orientation. Typical positional motivators 136 require a control signal and a source of energy. The control signal is relatively low energy and may be electric voltage or current, pneumatic or hydraulic pressure, or even human power. The supplied main energy source may be electric current, hydraulic fluid pressure, or pneumatic pressure. When a control signal is received from the processing unit 140, the positional motivator 136 responds by converting the energy into mechanical motion. A positional motivator 136 may comprise any mechanism by which a processing unit 140 may use to act upon the environment and may comprise any type of internal combustion or combustion engines, comb drives, digital micromirror devices, solenoids, electric motors, electroactive polymers, hydraulic cylinders, piezoelectric actuators, pneumatic actuators, servomechanisms, thermal bimorphs, screw jacks, or any other type of hydraulic, pneumatic, electric, mechanical, thermal, magnetic type of actuator, or any other type of actuator.
Furthermore, the components and elements (131, 132, 133, 134, 135, 136, 137, 140, 141, 142, 143, 144, 145) may be combined in a modular embodiment that can be detached from a drone manifestation of a robot and attached to any other manifestations of a robot or autonomous vehicle to perform tasks related to or other than moving elements of an irrigation system 110. In further embodiments, a RAMP 130 may be reconfigurable between one or more configurations which may enable the RAMP 130 to move and/or manipulate objects in different manners. For example and in some embodiments, a RAMP 130 may be configured to removably couple one, two, three, four, or any number of ROLAs 133 and ROMAs 134.
In preferred embodiments and as perhaps best shown in FIG. 8, a RAMP 130 may be reconfigurable between a first configuration 151 and a second configuration 152. The first configuration 151 may comprise one or more air transportation conveyances 138 configured to enable the RAMP 130 to fly to a destination, and the second configuration 152 may comprise one or more ground transportation conveyances 139 configured to enable the RAMP 130 to move across a ground surface.
A camera 137 may be configured to record still images or video images of the environment around the RAMP 130. In preferred embodiments, a camera 137 may comprise a digital camera that encodes images and videos digitally on a charge-coupled device (CCD) image sensor or on a complementary metal-oxide-semiconductor (CMOS) image sensor and stores them for later reproduction. In other embodiments, a camera 137 may comprise any type of camera which includes an optical system, typically using a lens with a variable diaphragm to focus light onto an image pickup device or image sensor.
A machine intelligence sensor module (MISM) 131 may comprise a module containing one or more control systems and sensor arrays that allow the robotic RAMP 130 to interface with the robotic appendage control module (RACM) 132 to attach, operate and manipulate the robotic-enhanced coupling and valve assembly (RECVS) 160 and other components of the irrigation system 110 via a robotic object lifting appendage (ROLA) 133 and robotic object manipulation appendage (ROMA) 134. In preferred embodiments, a MISM 131 may comprise one or more proximity sensors 165 which may be any type of sensor which is able to provide information which describes the distance between the RAMP 130 and an object or surface that the proximity sensor is directed towards. Proximity sensors 165 may include sensors such as fixed (single beam) or rotating (sweeping) Time-of-Flight (TOF) or structured light-based laser rangefinders, 3D High Definition LiDAR, 3D Flash LIDAR, 2D or 3D sonar sensors and one or more 2D cameras. Further, a proximity sensor 165 may also include Passive thermal infrared sensors, Photocell or reflective sensors, Radar sensors, Reflection of ionising radiation sensors, Sonar sensors, such as active or passive, Ultrasonic sensors, Fiber optics sensors, Hall effect sensors, or any other sensor able to detect the presence of nearby objects and surfaces without any physical contact. In still further embodiments, a MISM 131 may comprise one or more cameras 137 optionally configured as a proximity sensor 165. In further embodiments, a MISM 131 may comprise a proximity sensor 165 configured to describe a distance between the RAMP 130 and an object that the proximity sensor is directed towards, and the MISM 131 may communicate the distance to the SMCM 161.
A robotic appendage control module (RACM) 132 may comprise a module containing one or more control subsystems and external interfaces used to control a robotic object lifting appendage (ROLA) 133 and a robotic object manipulation appendage (ROMA) 134. To enable the RAMP 130 to move and manipulate components of a LMIS 110 and other elements of the system 100. A robotic object lifting appendage (ROLA) 133 may comprise a robotic arm-like device that provides lifting capabilities for the RAMP 130. A robotic object manipulation appendage (ROMA) 134 may comprise a robotic hand-gripper-like device that provides attachment and manipulation capabilities for the RAMP 130.
In some embodiments, the system 100 may comprise a robotic-enhanced coupling and valve assembly (RECVS) 160 (FIG. 1) which may preferably comprise a multi-part modular valve assembly. The RECVS 160 may comprise or include one or more valves 166 (FIG. 1), such as a flow control valve, pressure regulating valve, relief valve, ball valve, a gate valve, butterfly valve, diaphragm valve, globe valve, check valve, pressure balanced valve, locking valve, solenoid valve, or any other type of valve or controller which may be used to enable, disable, or otherwise modulate the flow of water to or through one or more components of the system 100 and a lateral move irrigation system (LMIS) 110. In further embodiments, a RECVS 160 may comprise a module that facilitates mounting (retrofitting) the RECVS 160 to existing irrigation systems 110, such as by having one or more couplings standard to lateral move irrigation systems 110. In further embodiments, a RECVS 160 may comprise a module that facilitates water-tight coupling capability that can be operated by a RAMP 130, preferably via a ROLA 133 and/or a ROMA 134, to connect/disconnect lateral move irrigation system sections 111. In still further embodiments, a RECVS 160 may comprise a module that contains a valve 166 that can be operated by a RAMP 130 to control the flow of water through a hose 113, water supply line 114, or lateral move irrigation system sections 111. For example, the RECVS 160 may comprise a valve 166 that may be opened and closed by rotating an element of the valve 166, and the ROLA 133 and ROMA 134 may grasp and rotate the element thereby allowing the RAMP 130 to open and close the valve 166 of the RECVS 160. By operating one or more valves 166 of the RECVS 160, the RAMP 130 may govern the ability of water to pass through the lateral move irrigation system section In still further embodiments, a RECVS 160 may comprise one or more external attachment points that can be attached-to and manipulated-by a ROLA 133 and/or a ROMA 134 to allow the RAMP 130 to grasp, move, and manipulate the RECVS 160. In yet further embodiments, a RECVS 160 may comprise one or more surface features which allow machine intelligence sensor module (MISM) 131 to reliably and accurately identify the modules and their position and orientation under all operating conditions.
In some embodiments, the system 100 may comprise a system mover control module (SMCM) 161 which may be integral or retrofitted to an irrigation system mover unit (ISMU) 112. Generally, an SMCM 161 may be in communication with both an irrigation system mover unit (ISMU) 112 and a RAMP 130, and the SMCM 161 may direct the movement of the ISMU 112 and communicate instructions to the RAMP 130 describing how the RAMP 130 is to manipulate the one or more lateral move irrigation system section 111 of the LMIS 110. Alternatively, a SMCM 161 may be housed or operate in any other element of the system 100, such as in a RAMP 130, client device 400, or RLRP 162, or a SMCM 161 may be a standalone unit. In further embodiments a SMCM 161 may comprise a radio, such as a radio 143, 403, which enables communication on the wireless control network (WCN) 106. In further embodiments a SMCM 161 may comprise an electro-mechanical interface to start, stop and move (such as in forward and reverse directions) the ISMU 112. In further embodiments a SMCM 161 may comprise a control sub-module radio, such as a radio 143, 403, that can communicate over the internet 105 and WCN 106 to provide local oversight, control and monitoring of irrigation systems 110 associated with a subscription service of the system 100. In preferred embodiments, a SMCM 161 may be in communication with a CCS 300A via a WCN 106, and the CCS 300A may communicate a movement schedule for the lateral move irrigation system 110 to the SMCM 161.
In some embodiments, the system 100 may comprise a robot launch and recovery platform (RLRP) 162 (FIGS. 1 and 9) which may be used to support the launch, recovery, and other functions of a RAMP 130. For example, a RAMP 130 may land on a RLRP 162 and the RLRP 162 may switch out or recharge the power source 135 of the RAMP 130 or support the RAMP 130 to perform those tasks on itself.
In some embodiments, a RAMP 130 of the system 100 may be configured to replace one or more of its power sources 135 via the ROLA 133 and ROMA 134 as shown in FIG. 9. For example, a RAMP 130 may comprise a power source 135 that may be configured as a rechargeable battery pack. Preferably, a RLRP 162 may comprise a charging station 164 having one or more of the rechargeable battery pack type power sources 135 suitable for use by one or more RAMPs 130 and which may recharge these power sources 135. When a RAMP 130 has depleted its onboard rechargeable battery pack type power source 135 it may swap its depleted power source 135 for a fresh one from the charging station 164 via one or more of its respective ROLAs 133 and ROMAs 134 thereby replacing its power source 135.
In some embodiments, a RAMP 130 of the system 100 may be configured to replenish one or more of its power sources 135 via the ROLA 133 and ROMA 134. For example, a RAMP 130 may comprise a power source 135 that may be configured as a petroleum tank and internal combustion engine. Preferably, a RLRP 162 may comprise a petroleum tank and/or dispensing mechanism. When a RAMP 130 has depleted its onboard petroleum supply type power source 135 it may swap its depleted power source 135 for a fresh one tank or refill its petroleum tank via one or more of its respective ROLAs 133 and ROMAs 134 thereby replenishing its power source 135.
Optionally, a RLRP 162 may provide a housing or enclosure for a RAMP 130 such as which may be used to protect the RAMP 130 from inclement weather and thieves. In some embodiments and as shown in FIG. 1, a RLRP 162 may comprise a stationary structure or enclosure, similar to a hanger for airplanes and the like, which may receive and cover all or portions of a RAMP 130. For example, a RLRP 162 may comprise a housing having one or more movable doors 163 which may open to allow a RAMP 130 to enter and exit the RLRP 162 and close to protect a RAMP 130 received therein from inclement weather and thieves. In further embodiments and as shown in FIG. 9, a RLRP 162 may comprise a movable structure or enclosure, similar to a trailer for vehicles, cargo, and the like, which may receive and cover all or portions of a RAMP 130 while allowing the RLRP 162 to have mobile capabilities. For example, in addition to a housing having one or more movable doors 163 which may open to allow a RAMP 130 to enter and exit the RLRP 162 and close to protect a RAMP 130 received therein from inclement weather and thieves, a RLRP 162 may comprise one or more wheels or other transportation conveyances which may facilite the movamnet of the RLRP 162 across a ground surface. Optionally, a RLRP 162 may comprise a motor or engine for enabling the RLRP 162 to move under its own power, and/or the RLRP 162 may comprise a hitch or other towing mechanism which may enable the RLRP 162 to be moved by another motorized vehicle.
FIG. 5 illustrates a block diagram illustrating an example of a processing unit 140 of a RAMP 130 as described in various embodiments herein. In some embodiments, a processing unit 140 may comprise one or more processors 141, I/O interfaces 142, radio modules 143, data stores 144, and/or memory 145. The processor 141 is a hardware device for executing software instructions. The processor 141 can be any custom made or commercially available processor, a central processing unit (CPU), an auxiliary processor among several processors, a semiconductor-based microprocessor (in the form of a microchip or chip set), or generally any device for executing software instructions. When in operation, the processor 141 is configured to execute software stored within the memory 145, to communicate data to and from the memory 145, and to generally control operations of the RAMP 130 pursuant to the software instructions. In an exemplary embodiment, the processor 141 may include a mobile optimized processor such as optimized for power consumption and mobile applications.
The I/O interfaces 142 can be used to input and/or output information and power. In some embodiments, I/O interfaces 142 may include one or more turnable control knobs, depressible button type switches, a key pad, slide type switches, dip switches, rocker type switches, rotary dial switches, numeric input switches or any other suitable input which a user may interact with to provide input. In further embodiments, I/O interfaces 142 may include one or more light emitting elements or other display device, e.g., a LED (light emitting diodes), a speaker, or any other suitable device for outputting or displaying information. The I/O interfaces 142 can also include, for example, a serial port, a parallel port, a small computer system interface (SCSI), an infrared (IR) interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, and the like.
An optional radio module 143 may enable wireless communication to an external access device or network through an antenna. A radio module 143 may comprise a wireless communication receiver and optionally a wireless communication transmitter. In some embodiments, a radio module 143 may operate on a cellular band and may communicate with or receive a Subscriber Identity Module (SIM) card or other wireless network identifier. Any number of suitable wireless data communication protocols, techniques, or methodologies can be supported by the radio module 143, including, without limitation: RF; IrDA (infrared); Bluetooth; ZigBee (and other variants of the IEEE 802.15 protocol); IEEE 802.11 (any variation such as WiFi); IEEE 802.16 (WiMAX or any other variation); Direct Sequence Spread Spectrum; Near-Field Communication (NFC); Frequency Hopping Spread Spectrum; Long Term Evolution (LTE); cellular/wireless/cordless telecommunication protocols (e.g. 3G/4G, etc.); wireless home network communication protocols; paging network protocols; magnetic induction; satellite data communication protocols; wireless hospital or health care facility network protocols such as those operating in the WMTS bands; GPRS; proprietary wireless data communication protocols such as variants of Wireless USB; and any other protocols for wireless communication.
The data store 144 may be used to store data. The data store 144 may include any of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, and the like)), nonvolatile memory elements (e.g., ROM, hard drive, tape, CDROM, and the like), and combinations thereof. Moreover, the data store 144 may incorporate electronic, magnetic, optical, and/or other types of storage media.
The memory 145 may include any of volatile memory elements (e.g., random access memory (RAM, such as DRAM, SRAM, SDRAM, etc.)), nonvolatile memory elements (e.g., ROM, hard drive, etc.), and combinations thereof. Moreover, the memory 145 may incorporate electronic, magnetic, optical, and/or other types of storage media. Note that the memory 145 may have a distributed architecture, where various components are situated remotely from one another, but can be accessed by the processor 141. The software in memory 145 can include one or more software programs, each of which includes an ordered listing of executable instructions for implementing logical functions. In the example of FIG. 6, the software in the memory system 145 may include a suitable operating system (O/S) 147 and programs 148.
An operating system 147 essentially controls the execution of input/output interface 142 functions, and provides scheduling, input-output control, file and data management, memory management, and communication control and related services. The operating system 136 may be, for example, LINUX (or another UNIX variant) and any Linux-kernel-based operating systems, Raspbian, Ubuntu, OpenELEC, RISC OS, Arch Linux ARM, OSMC (formerly Raspbmc) and the Kodi open source digital media center, Pidora (Fedora Remix), Puppy Linux, Android (available from Google), Symbian OS, Microsoft Windows CE, Microsoft Windows 7 Mobile, iOS (available from Apple, Inc.), webOS (available from Hewlett Packard), Blackberry OS (Available from Research in Motion), and the like. The programs 148 may include various applications, add-ons, etc. configured to provide end user functionality such as to control the operation of functions of the elements of the system 100 including the elements of a RAMP 130.
Referring now to FIGS. 1-9, the system 100 may be configured to autonomously manipulate, such as by connecting, disconnecting, and moving, elements of a lateral move irrigation system (LMIS) 110, such as one or more lateral move irrigation system sections 111 and irrigation system mover units (ISMU) 112. LMIS 110 can have the mainline water feed or water supply line 114 configured in different ways depending on factors like the location of the underground water feed pipeline, field layout, irrigation needs, operator preference, etc. The flexibility of these systems to accommodate such requirements is one of the reasons for their popularity. The following description has the mainline feed or water supply line 114 configured to be at the center of the irrigation system 110. However, it is common for LMIS 110 to have the mainline feed configured to be at one end of the irrigation system 110. This is not an error or inconsistency, rather an acknowledgment that in real-world scenarios these systems will be configured however the LMIS-O 101 desires. Additionally, the following description has the mainline feed or water supply line 114 configured to be near the center of the irrigation system 110, which is a more complex scenario for robotic-assisted movement of the system 100.
In some embodiments of the system 100, one or more steps may be completed in order to enable the system 100, via the ROLA 133 and ROMA 134 of one or more RAMPs 130 to autonomously connect, disconnect, and move elements of a lateral move irrigation system (LMIS) 110. The following steps are exemplary, optional, and may be completed in any order. Furthermore, one or more of the steps may be omitted.
Step 1) The irrigation system operator LMIS-O 101 may use the internet 105 connection to connect to the central control server 300A to subscribe to irrigation control services of the system 100.
Step 2) Upon approval of the subscription services the central control server 300A may place the services in an awaiting activation state in the subscribed irrigation control service database 330, then uses the internet 105 connection to communicate the status to both the LMIS-O 101 and a system service representative 102 via their respective client devices 400.
Step 3) Preferably, the system service representative 102 coordinates with the LMIS-O 101 to travel to the geographic location(s) of the LMIS 110 defined in the subscribed services of the subscribed irrigation control service database 330 to perform field survey(s) of the property of the LMIS-O 101. Optionally, the system service representative 102 may remotely perform field survey(s) of the property of the LMIS-O 101, such as by using satellite, aerial photographs, etc.
Step 4) Upon completion of the surveys, the system service representative 102 coordinates with the LMIS-O 101 to create a list of system component(s) needed to fulfill the subscription(s). This may include one or more of a robotic assisted movement platform (RAMP) 130, a robotic-enhanced coupling and valve assembly (RECVS) 160, a system mover control module (SMCM) 161, and a robot launch and recovery platform (RLRP) 162.
Step 5) When the components are available, the system service representative 102 and LMIS-O 101 may coordinate to conduct activities to deploy, integrate, configure and test those components with the LMIS 110 that are covered under the subscription service(s) for that LMIS-O 101. These activities may also include the software installation of subscription service information on each system mover control module (SMCM) 161 covered under the subscription(s), confirming SMCM) 161 can connect to the internet 105 such as via wireless control network (WCN) 106 to communicate with the central control server 300A, and installation of client software control application client software control application (CSCA) 421 on LMIS-O 101 client device 400 or equipment.
Step 6) Once the deployment has been accepted by the LMIS-O 101, the system service representative 102 may use the internet 105 connection of their client device 400 to access the central control server 300A to place the subscription services in an active state.
Step 7) For a LMIS 110, at the scheduled time defined in the subscription service of the subscribed irrigation control service database 330, the SMCM 161 may communicate with the RLRP 162 and RAMP 130 to initiate the LMIS 110 movement sequence. Preferably, before they can leave the RLRP 162 all (preferably a minimum of two) RAMP 130 involved in the move sequence must confirm that communication with the SMCM 161 over the WCN 106 that has been established. Once that communication has been established, the RAMP 130 may send confirmation back to the SMCM 161 that they are ready to leave the RLRP 162.
Step 8) The SMCM 161 may communicate over the WCN 106 to instruct the RAMP 130 to leave the RLRP 162 and travel to the location of the LMIS 110 defined in the subscription (Component-2). From this point forward, and until their return, the RAMP 130 may communicate with the SMCM 161 over the WCN 106.
Step 9) Upon arrival at the LMIS 110 the RAMP 130 may assume a hover-in place position and communicate their status to the SMCM 161. A hover-in place position may comprise the RAMP 130 hovering or maintaining a flight pattern in the air or it may include the RAMP 130 landing to conserve energy or fuel.
Step 10) The SMCM 161 may instruct the first RAMP 130 to turn off the water supply line 114 to the LMIS 110. This may be accomplished by using the machine intelligence sensor module (MISM) 131, robotic object lifting appendage (ROLA) 133 and robotic object manipulation appendage (ROMA) 134 to operate the valve 166 of the robotic-enhanced coupling and valve assembly (RECVS) 160 to move it to an off position. When the RAMP 130 determines this task has been completed it may send a confirmation to the SMCM 161 then may move to a hover-in-place position.
Step 11) The SMCM 161 may communicate with the first and a second RAMP 130 to initiate the irrigation system drain sequence.
Step 12) The first and second RAMPs 130 may move to opposite ends of the LMIS 110. They may open the drains by using their respective MISM 131, ROLA 133 and ROMA 134 to operate the valve 166 of the RECVS 160, moving it to an open position and subsequently monitor the water outflow there from. When the RAMP(s) 130 determine that the water flow has decreased sufficiently to consider the system drained, the RAMP 130 may send confirmation to the SMCM 161, then move to their respective hover-in-place positions.
Step 13) If the survey completed in step 3) indicates that due to a change in the shape of the field the LMIS 110 must be shortened before it can be moved, the SMCM 161 may communicate with the first and a second RAMP 130 to initiate the shortening sequence.
Step 13.a) The SMCM 161 may instruct the RAMP 130 to move to the outer-most end of the first lateral move irrigation system section 111 to be removed from the LMIS 110. Upon arriving at that location, the first RAMP 130 may communicate confirmation of its position back to the SMCM 161 then moves to a hover-in-place position.
Step 13.b) The SMCM 161 instructs the second RAMP 130 to move to the opposite end of the lateral move irrigation system section 111 at which the first RAMP 130 is currently positioned.
Upon arriving at this point, the second RAMP 130 may communicate confirmation of its position back to the SMCM 161 then may move to a hover-in-place position.
Step 13.c) The SMCM 161 may instruct the second RAMP 130 to disconnect the lateral move irrigation system section 111 to be removed from the irrigation system 110. It does this by using the MISM 131, ROLA 133 and ROMA 134 to operate the coupling portion of the RECVS 160 to move it to a disconnect position. When the RAMP 130 determines this task has been completed it may send confirmation to the SMCM 161 then hovers at the current position.
Step 13.d) The SMCM 161 may instruct the second RAMP 130 to attach to the section. It does this by using the MISM 131, ROLA 133 and ROMA 134 to connect to lift attachment points on the RECVS 160. When the RAMP 130 determines this task has been completed it may send confirmation to the SMCM 161 then hovers at the current position.
Step 13.e) The SMCM 161 may instruct the first RAMP 130 to attach to the section. It does this by using the MISM 131, ROLA 133 and ROMA 134 to connect to lift attachment points on the RECVS 160. When the RAMP 130 determines this task has been completed it may send confirmation to the SMCM 161 then hovers at the current position.
Step 13.f) The SMCM 161 may instruct both RAMPs 130 to complete the section removal task. Using their the MISM 131, ROLA 133 and ROMA 134, they may in unison simultaneously lift and may move the lateral move irrigation system section 111 a short distance (e.g. 3 to 6 feet) in a direction away from the center of the irrigation system. After traveling this distance, the RAMPs 130 may stop, lower the section back to the ground, then disconnect from the section 111. When the RAMP(s) 130 determines this task has been completed it may send confirmation to the SMCM 161 then hovers at the current position.
Step 13.g) For all remaining lateral move irrigation system sections 111 that must be removed from the LMIS 110, the SMCM 161 may instruct both RAMPs 130 to repeat the tasks in step 13.a) through 13.f).
Step 13.h) Once the SMCM 161 has determined that the last lateral move irrigation system section 111 has been removed, it may instruct the second RAMP 130 to ensure the valve 166 at the end of the LMIS 110 is closed. That RAMP 130 does so by using the ROLA 133 and ROMA 134 to operate the valve 166 of the RECVS 160 so that is it moved to an closed position. Upon completion of this task the first RAMP 130 may communicate confirmation of attachment back to the SMCM 161.
Step 13.i) If the opposite end of the LMIS 110 must also be shortened, the SMCM 161 may instruct both RAMPs 130 to move to the required starting position, then further instructs them to repeat their respective tasks in steps 13.a) through 13.h.
Step 14) The SMCM 161 may instruct both RAMPs 130 to move back to the center of the irrigation system. Upon arrival at that location, both RAMPs 130 may communicate confirmation of attachment back to the SMCM 161.
Step 15) The SMCM 161 may initiate movement of the LMIS 110 in the direction and distance defined in the subscription services. The SMCM 161 may interface with the irrigation system mover unit (ISMU) 112 to start the mover engine. When the engine has been started, the SMCM 161 may instruct the RAMPs 130 to begin monitoring the movement position by analyzing data returned by their respective MISM 131. The SMCM 161 may engage the mover drive and the irrigation system 110 begins moving across the field in the desired direction. While the movement is in progress, the SMCM 161 of the ISMU 112 may determine position within the field by both a) its GPS coordinates and b) communicating with the RAMPs 130 to received updates regarding position of the LMIS 110. When it has been determined the irrigation system 110 has moved the required distance, the SMCM 161 may disengage the mover drive and turns off the mover engine.
Step 16) The SMCM 161 may instruct the first RAMP 130 to initiate the mainline reconnect sequence.
Step 17) The first RAMP 130 repeats step 13.c), but in reverse to complete the reconnect sequence. When the RAMP 130 determines this task has been completed it may send a confirmation to the SMCM 161 then moves to a hover-in-place position.
Step 18) The SMCM 161 may instruct the first RAMP 130 to turn on the mainline water supply line 114 by repeating step 10) but in reverse. When it is determined the mainline water supply line 114 has been turned on, the RAMP 130 may send a confirmation to the SMCM 161.
Step 19) The SMCM 161 may instruct the first RAMP 130 to move a short distance (e.g. 3 to 6 feet) in a direction away from the center of the irrigation system 110, then hover in place.
Step 20) The SMCM 161 may instruct the second RAMP 130 to initiate a check to confirm the system 100 is functioning properly such as by confirming the system 100 has pressured up and is distributing water. The RAMP 130 does this by ascending upward to a sufficient height such that the entire LMIS 110 is visible from end to end. The RAMP 130 then may rotate 360 degrees and scans the full length of the LMIS 110 using the sensors in the MISM 131. The sensor data may be communicated to the SMCM 161.
Step 21) The SMCM 161 may analyze the scan data to determine if the irrigation system 110 is functioning properly.
Step 21.a) If the system 100 is not functioning properly, the SMCM 161 may instruct the first RAMP 130 to turn off the mainline water supply 114 by repeating step 8.
Step 21.a.1) The SMCM 161 may communicate the error information to the central control server 300A.
Step 21.a.2) The central control server 300A may communicate the error information to the client software control application (CSCA) 421 to make the LMIS-O 101 aware of the error.
Step 21.b) If the system 100 is functioning properly, the SMCM 161 may communicate the error information to the CSCA 421 to make the LMIS-O 101 aware of the successful movement operation.
Step 22) The SMCM 161 may communicate with the central control server 300A to determine the next series of tasks to be performed.
Step 22.a) If the subscription services indicate that additional LMISs 110 must be moved, the first and second RAMPs 130 may be instructed to move to the location of the next system 110 to be moved at which point they may communicate with that SMCM 161 to repeat steps 8)-22) according to the subscription service.
Step 22.b) If the subscription services indicate that no additional LMISs 110 are to be moved, the SMCM 161 may instruct the RAMP(s) 130 to return to the RLRP 162.
Although the present invention has been illustrated and described herein with reference to preferred embodiments and specific examples thereof, it will be readily apparent to those of ordinary skill in the art that other embodiments and examples may perform similar functions and/or achieve like results. All such equivalent embodiments and examples are within the spirit and scope of the present invention, are contemplated thereby, and are intended to be covered by the following claims.

Claims

What is claimed is:

1. A robotic irrigation system for use with a lateral move irrigation system having an irrigation system mover unit, a water supply line, and a lateral move irrigation system section, the system comprising:

a robotic assisted movement platform (RAMP) having a robotic appendage control module (RACM), a robotic object lifting appendage (ROLA), and a robotic object manipulation appendage (ROMA), wherein the RACM of the RAMP is configured to manipulate the lateral move irrigation system section via the ROLA and the ROMA;

a robotic-enhanced coupling and valve assembly (RECVS) in fluid communication with the water supply line and the lateral move irrigation system section, the RECVS having a valve configured to be manipulated by the ROLA and ROMA of the RAMP to govern the ability of water to pass through the lateral move irrigation system section from the water supply line; and

a system mover control module (SMCM) in communication with both the irrigation system mover unit and the RAMP, wherein the SMCM directs the movement of the irrigation system mover unit and communicates instructions to the RAMP describing how the RAMP is to manipulate the lateral move irrigation system section.

2. The system of claim 1, further comprising a Robot launch and recovery platform (RLRP).

3. The system of claim 1, further comprising a central control server (CCS), wherein the CCS communicates a movement schedule for the lateral move irrigation system to the SMCM.

4. The system of claim 1, wherein the RAMP comprises an air transportation conveyance configured to enable the RAMP to fly to a destination.

5. The system of claim 1, wherein the RAMP comprises a ground transportation conveyance configured to enable the RAMP to move across a ground surface.

6. The system of claim 1, wherein the RAMP is reconfigurable between a first configuration and a second configuration, wherein the first configuration comprises an air transportation conveyance configured to enable the RAMP to fly to a destination, and wherein the second configuration comprises a ground transportation conveyance configured to enable the RAMP to move across a ground surface.

7. The system of claim 1, wherein the RAMP comprises a power source.

8. The system of claim 6, wherein the RAMP is configured to replenish the power source via the ROLA and ROMA.

9. The system of claim 6, wherein the RAMP is configured to replace the power source via the ROLA and ROMA.

10. The system of claim 1, wherein the RAMP is in communication with a client device via a wireless control network.

11. The system of claim 1, wherein the RAMP comprises a machine intelligence sensor module (MISM) having a proximity sensor configured to describe a distance between the RAMP and an object that the proximity sensor is directed towards, and wherein the MISM communicates the distance to the SMCM.

12. A robotic irrigation system for use with a lateral move irrigation system having an irrigation system mover unit, a water supply line, and a lateral move irrigation system section, the system comprising:

a robotic-enhanced coupling and valve assembly (RECVS) in fluid communication with the water supply line and the lateral move irrigation system section, the RECVS having a valve configured to be manipulated by the ROLA and ROMA of the RAMP to govern the ability of water to pass through the lateral move irrigation system section from the water supply line;

a system mover control module (SMCM) in communication with both the irrigation system mover unit and the RAMP, wherein the SMCM directs the movement of the irrigation system mover unit and communicates instructions to the RAMP describing how the RAMP is to manipulate the lateral move irrigation system section; and

a central control server (CCS), wherein the CCS communicates a movement schedule for the lateral move irrigation system to the SMCM.

13. The system of claim 12 wherein the RAMP comprises a power source, further comprising a Robot launch and recovery platform (RLRP).

14. The system of claim 12, wherein the RAMP comprises an air transportation conveyance configured to enable the RAMP to fly to a destination.

15. The system of claim 12, wherein the RAMP comprises a ground transportation conveyance configured to enable the RAMP to move across a ground surface.

16. The system of claim 12, wherein the RAMP is reconfigurable between a first configuration and a second configuration, wherein the first configuration comprises an air transportation conveyance configured to enable the RAMP to fly to a destination, and wherein the second configuration comprises a ground transportation conveyance configured to enable the RAMP to move across a ground surface.

17. The system of claim 12, wherein the RAMP comprises a power source, and wherein the RAMP is configured to replenish the power source via the ROLA and ROMA.

18. The system of claim 12, wherein the RAMP comprises a power source, and wherein the RAMP is configured to replace the power source via the ROLA and ROMA.

19. The system of claim 12, wherein the RAMP is in communication with a client device via a wireless control network.

20. The system of claim 12, wherein the RAMP comprises a machine intelligence sensor module (MISM) having a proximity sensor configured to describe a distance between the RAMP and an object that the proximity sensor is directed towards, and wherein the MISM communicates the distance to the SMCM.