WO2022215095A1

WO2022215095A1 - A self-balancing smart unmanned straddle carrier for carrying agriculture implements

Info

Publication number: WO2022215095A1
Application number: PCT/IN2022/050347
Authority: WO
Inventors: Arulmani Ethirajan; Suganya VENKATACHALAM
Original assignee: Arulmani Ethirajan; Venkatachalam Suganya
Priority date: 2021-04-09
Filing date: 2022-04-09
Publication date: 2022-10-13

Abstract

This invention relates to a self-balancing smart unmanned straddle carrier (1). A first and second vertical support member (2 and 3) connected with a telescopically extendable upper connecting member (4) to form a straddle frame (5). The vertical support members (2 and 3) further engaged with ground engaging wheels (6) to form a straddle carrier. Each connection is made via a pivot joint (7). A position sensor (10) monitors the pivot joints (7), a driving unit (8) controls and retains each pivot joint (7). Further, a first and second vertical support member and their pivot joint(7) are configured as a leading unit (11) and trailing unit (12) respectively thereby adjusting the ground profile based on deviation in the upper edges or extending the telescopically extendable upper connecting member (4). In this similar way differential speed and centre of gravity also controlled in real time thus making the straddle carrier capable of being a self-balancing capable smart unmanned straddle carrier (1).

Description

Title: A SELF-BALANCING SMART UNMANNED STRADDLE CARRIER FOR CARRYING AGRICULTURE IMPLEMENTS

Applicants: ETHIRAJAN ARULMANI and VENKATACHALAM SUGANYA

FIELD OF THE INVENTION

The invention pertains generally to a smart frame and self-balancing control method for straddle type unmanned implements carriers more particularly the mechanically optimized smart frame structure and its control method together 5 make the straddle type capable of self-balancing and carrying the implements, particularly agriculture implements irrespective of ground profiles.

BACKGROUND OF THE INVENTION

Farming is the process of growing crops for food and other needs. Farming has been the most beloved tradition followed for ages throughout the world for 10 human survival. However, the techniques followed in farming or agriculture are different for each nation. The farmers of India follow various farming methods based on the nature of land, soil, agro-climate and water availability or irrigation facilities.

Some common steps involved in the cultivation of crops are,

15 • Soil preparation: Ploughing, levelling, and manuring,

• Sowing: the process of addition of seeds into the soil,

• Manuring, Irrigation, spraying, Weeding, other maintenance

• Harvesting and Trimming

• Post-processing harvested produce.

20 Despite of the numerous chemical, genetic, and mechanical improvements made to farming in the past 5 decades, farming is still a very labour-intensive activity.

In some countries, increasing the scale and productivity of agriculture started using

• Huge sized machinery,

25 • Increased use of genetically modified seeds or chemicals and

• Larger numbers of low-wage workers. So, those approaches lead to;

• Requirement of higher capital investment to purchase and maintain larger and more complex machines, 30 • Environmental issues, and

• Labour problems. But, presently available farming apparatuses cannot meet the above requirements because of the following drawbacks, 1. Existing farming apparatus should depend on manual support for the 35 entire harvesting process, 2. Massive and rigid framed apparatus (not adaptable for the different farming processes) in structure, 3. Each step of the farming process requires different farming apparatus/implements, 40 4. Cost for moving the machines are high, 5. Restricts the farming only in the machine access areas. It may lead to missing the available potential. 6. Minimum land holding farmers need to wait for other neighbours even after attaining the proper crop maturity, only because of sparing the 45 transportation cost and machine cost during the cultivation process, None of the harvesting machines in the past could conveniently be deployed to the different land profiles. So there is a need for a common system for performing different steps of farming in the different ground profiles without depend on much manual support. 50 Case study 2: The present situation, it is very complicated to depend on manpower to perform the harvesting, particularly in the hill stations: For example, tea harvesting is the operation in which the tender tea shoots are picked, which is generally called "plucking". A tea shoot at the correct maturity is very essential for manufacturing 55 high-quality tea. Generally, the bush is divided into two regions; one is a top and another one is a bottom region. The tender tea shoots appear in the top region and the hard stem appears below the tender tea shoots. During the harvesting process, the tender tea shoots alone are plucked from the tea bush. 60 Therefore, it is very essential to ensure the correct maturity of tea shoots as it determines the quality and the quantity of the made tea and hence, the profitability of the tea plantations. Now, the manual way of tea leaves harvesting has been carried out in most places. It requires a lot of manpower throughout the year and the Plants also 65 should be trimmed at a regular interval of time. For the above reasons, in many of the tea plantations, the tea harvesting process is suffered due to changes in the climatic conditions and manpower limitations. To overcome these difficulties and to improve production, tea plucking machines are introduced. 70 For example, The prior art 759/KOL/2013 discloses a manually operated tea plucking device, the prior art invention provides a mechanical tea plucker device which is operated simply by pushing like a trolley having well-lubricated wheels that easily move with operative connection with a set of rotating helical cutting blades to pluck tea leaves from the top of tea plants as it moves over the tea 75 plantation field with specified height and spacing of plantation of tea bushes, making the system easy to be operable in the tea garden/field, even by a fragile tea-garden worker including a woman. Importantly, the movement of the trolley by an operator is the driving force that generates energy to rotate the blade mechanism at a fast rate, enough to pluck the tea shoots automatically and get 80 collected in a bucket for transportation to the processing unit ensuring improved productivity in a cost-effective manner. The prior art also suffered from some constraints, it needs manpower to move the trolley, requires skilled manpower to select the tender tea shoots and restrictions in transporting required quantities due to space constraints and manual pulling force. 85 So, there is a need for a system to automatically adjust the level of the tender tea shoots and keep the level until the end of the harvesting process irrespective of the ground profile. The proposed invention can achieve the above requirements. More specifically, the system considers an input of ground profile and carrying 90 agricultural implements for determining the position of the carrier in real-time. From the above observation, there is a need for a multi-role, multi-purpose and multi-terrain apparatus carrier system to fulfil the needs of the entire agriculture process. Case study 3: 95 A straddle carrier or straddle truck is a freight-carrying vehicle that carries its load underneath by "straddling" it, rather than carrying it on top like a conventional truck. The advantage of the straddle carrier is its ability to load and unload without the assistance of cranes or forklifts. The lifting apparatus under the carrier is operated by the driver without any outside assistance and without 100 leaving the driver's seat. The straddle carrier was invented by H. B. Ross in 1913 as a road-going vehicle that could easily transport lumber around mills and yards. Lumber was stacked on special pallets known as carrier blocks; the carrier would then straddle the stack, grasp and lift the carrier block, and drive off with the load. Because a 105 straddle carrier is open at both front and rear, it can transport lumber much longer than the carrier itself, over 30 m (98 ft) in length. Similar industrial straddle carriers are used in manufacturing and construction, both for handling oversized loads such as steel and pre-cast concrete and where transportation of special loads such as nitrogen tanks is required in restricted 110 spaces not suitable for trucks. A key advantage of industrial straddle carriers and reach stackers over most forklifts is the ability to load or unload a semi-trailer in a single operation, which can improve efficiency The above type of straddle carrier cannot be utilized for agriculture purposes. Many of the straddle carriers are massive in structure and rigid frame structure, 115 and cannot adapt to variable ground profiles. It requires manual control for operation. The prior art US 2015/0351309 A1 discloses the robotic gantry bridge for farming, A robotic gantry (10) for conducting farming operations. The robotic gantry has a bridge (12) which is moved by propulsion mechanisms (14), one or 120 more farming implements (16), a controller (38), and one or more devices (28, 30) to provide position information for the robotic gantry as it moves back and forth along a plurality of crop rows (40). The robotic gantry is connected to a power supply system (20) and, optionally, to a liquid supply system (22), which may be implemented as festoon systems. The controller is automated, self- 125 navigating, and activates, deactivates, and/or changes the operation of the propulsion mechanisms, and deploys, retracts, activates, deactivates, and/or changes the operation of one or more of the farming implements. The height of the frame may be adjusted by height adjustment frames (18) to accommodate crops of different heights and at different times during a growing season. But, 130 the prior art again requires a massive structure, optimization is not possible, but it does disclose the requirements of the smart frame structure. It cannot move in the variable ground profiles. straddle carrier is open at both front and rear, it can transport lumber much longer than the carrier itself, over 30 m (98 ft) in length. Similar industrial straddle carriers are used in manufacturing and construction, 135 both for handling oversized loads such as steel and pre-cast concrete and where transportation of special loads such as nitrogen tanks is required in restricted spaces not suitable for trucks. A key advantage of industrial straddle carriers and reach stackers over most forklifts is the ability to load or unload a semi-trailer in a single operation, which can improve efficiency 140 The above type of straddle carrier cannot be utilized for agriculture purposes. Many of the straddle carriers are massive in structure and rigid frame structure, and cannot adapt to variable ground profiles. It requires manual control for operation. The prior art US 2015/0351309 A1 discloses the robotic gantry bridge for 145 farming, A robotic gantry (10) for conducting farming operations. The robotic gantry has a bridge (12) which is moved by propulsion mechanisms (14), one or more farming implements (16), a controller (38), and one or more devices (28, 30) to provide position information for the robotic gantry as it moves back and forth along a plurality of crop rows (40). The robotic gantry is connected to a 150 power supply system (20) and, optionally, to a liquid supply system (22), which may be implemented as festoon systems. The controller is automated, self- navigating, and activates, deactivates, and/or changes the operation of the propulsion mechanisms, and deploys, retracts, activates, deactivates, and/or changes the operation of one or more of the farming implements. The height of 155 the frame may be adjusted by height adjustment frames (18) to accommodate crops of different heights and at different times during a growing season. But, the prior art again requires a massive structure, optimization is not possible, but it does disclose the requirements of the smart frame structure. It cannot move in the variable ground profiles. 160 The above drawbacks are addressed in the proposed patent and overcome the above drawbacks via its unique smart frame structure and control method. OBJECT OF THE INVENTION An object of the invention is to provide a smart frame and self-balancing control method for straddle type implement carriers more particularly the mechanically 165 optimized smart frame structure and its control method together make the straddle type capable of self-balancing and carrying the implements, particularly agriculture implements irrespective of ground profiles. Another object of the invention is to provide a movable smart frame for carrying the agriculture implements in the variable ground profiles without any manual 170 intervention. Another object of the invention is to provide a method being implemented in the above system to perform the self-balancing during the carrying process according to the real-time acquired variable ground profile data and agriculture apparatus’s data. 175 Yet another object of the invention is to provide an adaptable smart frame or straddle type structure for carrying the agriculture apparatuses and adapting to the farming process. Yet another object of the invention is to achieve a better centre of gravity (CG) control by the resultant effect of a unique smart frame structure and control 180 method thereby eliminating the need for a massive frame structure, achieving the process of carrying the agriculture apparatus with simple lightweight straddle type frame structure and also reducing the energy requirements to move the structure. Yet another object of the invention is to provide the floating roller for moving 185 the structure in the different terrain conditions or different ground profiles. Yet another object of the invention is to provide retractable or telescopically extending frame provision to dynamically adjust the frame during the farming or carrying process. Yet another object of the invention is to eliminate the requirements of massive 190 apparatus carriers and corresponding cost requirements by providing a simple adjustable bridge frame structure. Yet another object of the invention is to provide a provision for multi-axis adjustment. Yet another object of the invention is to form a selected number of vertical 195 supports and joints as a leading unit to control the trailing unit accordingly thereby achieving uniform speed and better stability control. Further object of the invention is to provide an autonomous carrying option to perform the carrying process without manual intervention or through remote control operation. 200 SUMMARY OF THE INVENTION The present invention relates to a system and method for carrying the agriculture apparatuses in the different ground profiles without much manual intervention. It does not need any operator to drive the system’s adjustment for the entire harvesting process. The unique features of the system are below:

205 The above system configuration and method for self-adjustment achieves the technical advancement as well as economic significance over the existing arts. BRIEF DESCRIPTION OF THE DRAWINGS

210 Figure 1 illustrates an embodiment of the invention which shows the configuration of the proposed self-balancing smart unmanned straddle carrier. Figure 2 illustrates the embodiment of the invention which shows the side view of the proposed self-balancing smart unmanned straddle carrier particularly shows the top and bottom pivoted joints (20 and 21). 215 Figure 3 illustrates embodiment of the invention which shows the movement of the carrier in the slopped ground profile particularly shows the movement of the bottom pivoted joint (21) while moving on the slopped ground profile. Figure 4 illustrates the position of the telescopically extended upper connecting member (4) in the extended state and normal state. 220 Figure 5 illustrates the embodiment of the invention particularly shows the leading unit (11) based trailing unit’s automatic speed correction, the dotted lines shows the leading and lagging speed condition of the trailing unit (12) during the operation. Figure 6 illustrates the embodiment of the invention particularly shows the 225 leading unit (11) based trailing unit’s automatic height adjustment, the dotted lines shows the leading and lagging speed condition of the trailing unit (12) during the operation. Up to first predetermined deviation limit, need not retracting the extension, once the height level exceeded the first predetermined deviation limit, telescopically extension will be enabled and maintain the upper 230 connecting member (4) parallel to the ground profile. Figure 7 illustrates the multiple pivoted joint movement in the multiple directions such as roll, pitch and yaw.

DETAILED DESCRIPTION OF THE PROPOSED INVENTION 235 One of the preferred embodiment of the invention discloses about a self- balancing smart unmanned straddle carrier (1) consisting of a first and second vertical support members (2 and 3) connected to one another by means of a telescopically extended upper connecting member (4) to form a straddle frame (5). A plurality of motorized ground engaging wheels (6) attached at the bottom 240 of each vertical support members (2 and 3). Wherein the above said straddle frame (5) and the motorized wheel combine (6) to form a straddle type implements carrier. The distinguish nature of the invention is below, each joints in the straddle frame being configured as a pivoted joint, each pivoted joints (7) and the horizontal extension of the upper connecting member (4) being 245 operated dynamically through a driving unit (8) to retain the engaged position. The upper connecting member (4) configured to carry the implements (9). A plurality of sensors (10) provided in each joints (7), members and implements to acquire real time position data. A control unit controls the driving units (8) with respect acquired real time position data. Wherein the first vertical support (2) 250 and its corresponding joints (7) being configured as a leading unit (11) and the second vertical support member (3) and its corresponding joints (7) being configured as a trailing unit (12) to control the corresponding driving unit (8) actuation with respect to real time reference data acquired from the leading unit (11). Wherein the real time self-balancing and centre of gravity control capability 255 of the straddle carrier (1) being obtained by means of a real time sensing based driving unit control and leading unit (11) based trailing unit control (12) thereby carrying the implements (9) in the variable ground profile (14) even through the low foot print straddle carrier (15). Wherein the movement and operation of the self-balancing smart unmanned straddle carrier (1) being performed either 260 autonomously or manually with respect to predetermined path data. Another embodiment of the invention discloses about the pivot joints (21) in the bottom frame enable the pitch movements (16). Refer figure 7 for pitch movements of the proposed invention. In figure 3, the proposed carrier enables 265 pitch movement to move in the slopped ground profile. Yet another embodiment of the invention discloses about the another movement enabled by the pivot joints (20) in the top frame region enable roll movements (17). This roll movement support the carrier to maintain centre of 270 gravity during the self-stabilization. Yet another embodiment of the invention discloses about the multiple sensors (10) used in the carrier (1), the sensors capable of being an IMU (Inertial Measurement Unit) sensor or position sensor or deflection sensor or force 275 sensor or combination thereof. Yet another embodiment of the invention discloses about the leading unit (11) configured to allow a yaw movement (18) and its corresponding deflection sensed by means of a force sensor thereby controlling the differential speed with 280 respect to predetermined path data. The figure 5 specifically illustrates the advantages of yaw movement based deflection sensing and trailing unit (12) control. Yet another embodiment of the invention discloses about the leading unit (11) 285 configured to allow a pitch movement (16) and its corresponding first predetermined deflection sensed by means of a force sensor thereby controlling the parallel position of the implements with respect to ground profiles (14). The pitch movement also allow the carrier’s self-stabilization or CG control during the implements carrying process. 290 Yet another embodiment of the invention discloses about the another major trouble faced during the self-stabilization in the critical slope region, in that kind of ground profile it is necessary to maintain the verticality thereby avoiding topple action in the critical terrain condition. In that situation, the proposed 295 invention is having an arrangement in the upper connecting member enables the telescopic extension upon sensing the critical deflection limit or the deflection beyond the first predetermined deflection limit. During the operation, the control unit enables the extension of the telescopically extended upper connecting member (4) by means of the driving unit (8) provided in the upper 300 connecting member (4). Yet another embodiment of the invention discloses about the driving unit (8) capable of being a threaded motor shaft and gears. This threaded arrangement enables the step by step retraction or contraction during the operation thereby 305 firmly retaining the entire frame structure in the moved position. Yet another embodiment of the invention discloses about the upper connecting member (4) capable of carrying the implements (9) by means of a retractable arm (19) refer figure 1 and 2. 310 Yet another embodiment of the invention discloses about the autonomous operation of the proposed self-balancing smart unmanned straddle carrier. In one aspect the autonomous operation being carried out with respect to GPS data. In another aspect the operation of the self-balancing smart unmanned 315 straddle carrier being carried out via remote system positioned in the centralized station or the station placed near the agriculture field. Yet another embodiment of the invention discloses about the other possible detection features provided in the carrier (1), the important features is climate 320 sensing, before deploying the carrier (1) into the field the environmental factor being assessed to enable the faming process. This can be automatically assessed during the autonomous mode or information data passed to the centralized station before initiating the farming process. 325 Yet another embodiment of the invention discloses about the provision for accommodating the power source in the self-balancing smart unmanned straddle carrier. This provision provided in the ground engaging wheels region. Yet another embodiment of the invention discloses about the control unit 330 acquires sensor data and provides power supply upon engaging the implements with the self-balancing smart unmanned straddle carrier (1). The self-balancing smart unmanned straddle carrier is having a provision to connect the implements or agriculture apparatus (9) during the operation. Upon engaging the implements (9), the carrier (1) exchanging necessary sensing parameters and 335 providing power supply for enabling the error free farming process. This configuration eliminates the need of additional power supply to operate the engaged implements during the farming process. The operation parameters also controlled with respect to shared sensing parameters. 340 Further embodiment of the invention discloses about a method being performed in a self-balancing smart unmanned straddle carrier having a leading unit, trailing unit, telescopically extendable upper connecting member, plurality of sensors, motorized ground engaging wheels and plurality of driving units provided in each joints and telescopically extension of the upper connecting member, 345 Step 1: continuously sensing the position of the joints, location of the carrier and deviation from a reference point by the control unit through the plurality of sensors placed on the unmanned straddle carrier, Step 2: deriving the instantaneous reference value by the control unit with respect to sensed data from the step 1 to keep the centre of gravity of the 350 carrier within the favourable stability level, Step 3: controlling the driving units placed in the top, bottom, upper connecting member and ground engaging wheels of the frame, wherein if the detected deviation is within the predetermined limit continuing the step 1 until change in the predetermined condition, 355 Wherein if the detected deviation is not within the predetermined condition continuing the steps 2 and 3 until change in the predetermined condition. ADVANTAGES: 1. The main advantage of the system is its ability to use the system for 360 different kinds of farming processes and ability to carry the agriculture apparatus in the different ground profile without man power. 2. Other advantage is, the system not only does the self-adjustment with respect to terrain and also adjust the breadth with respect to planted crop, also eliminates the need of massive size carrying machines, 365 3. The retractable option of the system simplifies the transportation with the help of telescopically extended frame arrangements. 4. Yet another advantage is also its ability for performing harvesting process even in the inaccessible terrain conditions. 5. With the self-adjustable enabled system provides the convenience of 370 harvesting process with minimum monitoring and man power. Rather than hire a labour for prolonged periods of time, the user can now do all of their farming process with a single and simple bridge frame structured automatic system. 6. The system also provides an auto-sensing and adjusting mechanism for 375 ensuring the safe harvesting of the crops and plucking of the tender tea shoots. 7. The system also capable to eliminate the differential speed during the operation as well as keep the implements parallel to ground profiles. So that the manner in which the features, advantages and objects of the 380 invention, as well as others which will become apparent, may be understood in more detail, more particular description of the invention briefly summarized above may be had by reference to the embodiment thereof which is illustrated in the appended drawings, which form a part of this specification. It is to be noted, however, that the drawings illustrate only a preferred embodiment of the 385 invention and is therefore not to be considered limiting of the invention’s scope as it may admit to other equally effective embodiments.

Claims

1. A self-balancing smart unmanned straddle carrier (1) consisting of; 390 (a) a first and second vertical support members (2 and 3) connected with a telescopically extendable upper connecting member (4) to form a straddle frame (5), (b) a set of motorized ground engaging wheels (6) attached at the bottom of the first and second vertical support members (2 and 3) thereby forming 395 a straddle type implements carrier, Characterized in that (c) each joint in the straddle frame [5] being configured as a pivoted joint [7], (d) each pivoted joint (7) and the telescopically extendable upper connecting 400 member(4) being actuated and retained in the actuated position by a driving unit (8), (e) a retractable arm (19) configured to connect an implements (9) with the telescopically extendable upper connecting member(4), (f) a position sensor (10) provided in each joint (7), the telescopically 405 extendable upper connecting member(4) and implements (9) and ground engaging wheel (6) to sense movement, (g) a control unit configured to acquire position information of each joint (7), telescopically extended upper connecting member (4), retractable arm (19), implements (9), ground engaging wheel (6) and straddle type 410 implements carrier by providing position sensors (10) , (h) wherein the first vertical support (2) and corresponding joints (7) being configured as a leading unit (11) and the second vertical support member (3) and its corresponding joints (7) being configured as a trailing unit (12) to control the driving unit (8) of the trailing unit (12), 415 (i) the control unit configured to control the frame position, centre of gravity and equivalent speed by controlling the corresponding one or more driving units (8) or driving units (8) of the trailing unit (12), (j) wherein the real time self-balancing and centre of gravity control capability of the straddle carrier (1) being obtained by means of a real 420 time sensing based driving unit control and leading unit (11) based trailing unit control (12) thereby carrying the implements (9) in the uneven ground profile (14), (k) wherein the movement and operation of the self-balancing smart unmanned straddle carrier (1) being performed either automatically 425 manually with respect to a path data. 2. The self-balancing smart unmanned straddle carrier as claimed in claim 1,where in pivot joints (21) in the bottom frame enable pitch movements (16) and pivot joints (20) in the top frame region enable roll movements (17). 430 3. The self-balancing smart unmanned straddle carrier as claimed in claim 1, a yaw movement deflection enabled in the leading unit (11) or trailing unit (12). 435 4. The self-balancing smart unmanned straddle carrier as claimed in claim 1, wherein the sensors (10) capable of being an IMU (Inertial Measurement Unit) sensor or position sensor or deflection sensor or force sensor or combination thereof. 440 5. The self-balancing smart unmanned straddle carrier as claimed in claim 1 and 3, wherein speed of the leading unit (11) or the trailing unit [12] being adjustably configured with respect to a yaw movements of the leading unit (11) or the trailing unit [12].

6. The self-balancing smart unmanned straddle carrier as claimed in claim 1, 445 wherein the pitch movement (16) of the leading unit (11) or the trailing unit (12) being adjustably configured with respect to ground profiles (14). 7. The self-balancing smart unmanned straddle carrier as claimed in claim 1 and 6, wherein the leading unit enables the extension of the telescopically 450 extended upper connecting member (4) by means of the driving unit (8) provided in the upper connecting member (4). 8. The self-balancing smart unmanned straddle carrier as claimed in claim 1 and 7, wherein the driving unit (8) capable of being a threaded motor, shaft and 455 gears. 9. The self-balancing smart unmanned straddle carrier as claimed in claim 1, wherein the path data capable of being a GPS data or instantaneous manual control or automated control data. 460 10. The self-balancing smart unmanned straddle carrier as claimed in claim 1, wherein the manual control being performed by means of a remote control. 11. The self-balancing smart unmanned straddle carrier as claimed in claim 1, 465 wherein the implements capable of being an agriculture apparatus.

12. A method for a self-balancing smart unmanned straddle carrier comprises the steps of, 470 Step 1: continuously sensing a position of the joints, location of the carrier and deviation from a reference point by the control unit through sensors placed on an unmanned straddle carrier, Step 2: deriving the adjustment level by the control unit with respect to 475 sensed data from the step 1 to keep the centre of gravity of the carrier within the favourable stability level, Step 3: controlling the driving units placed in the top, bottom, upper connecting member and ground engaging wheels of the frame, in such a way 480 that the detected deviation is within the predetermined limit continuing the step 1 until change in the predetermined condition, or the detected deviation is not within the predetermined condition continuing the steps 2 and 3 until change in the predetermined condition. 485