Agricultural robot system and method

Abstract

An agricultural robot system and method of harvesting, pruning, culling, weeding, measuring and managing of agricultural crops. Uses autonomous and semi-autonomous robot(s) comprising machine-vision using cameras that identify and locate the fruit on each tree, points on a vine to prune, etc., or may be utilized in measuring agricultural parameters or aid in managing agricultural resources. The cameras may be coupled with an arm or other implement to allow views from inside the plant when performing the desired agricultural function. A robot moves through a field first to “map” the plant locations, number and size of fruit and approximate positions of fruit or map the cordons and canes of grape vines. Once the map is complete, a robot or server can create an action plan that a robot may implement. An action plan may comprise operations and data specifying the agricultural function to perform.

What is claimed is: 
     
         1 . A method for using an agricultural robot system comprising:
 entering a field with a scout robot;   approaching a plant with said scout robot;   logging coordinates of said scout robot by said scout robot;   mapping at least one location of an agricultural element by said scout robot to produce a map; and,   continuing said approaching, said logging and said mapping until a desired number of plants in said field have been mapped.   
     
     
         2 . The method of  claim 1  further comprising:
 creating an action plan with comprising an action that utilizes said at least one location of said agricultural element. 
 
     
     
         3 . The method of  claim 1  further comprising:
 gathering environmental information from said agricultural elements. 
 
     
     
         4 . The method of  claim 1  further comprising:
 transmitting information from said scout robot to a worker robot in creating an action plan from said map; 
 moving said worker robot near said plant; 
 operating on an intended item associated with said plant by said worker robot; and, 
 continuing said moving and said operating until said all plants in said field have been operated on. 
 
     
     
         5 . The method of  claim 4  wherein said transmitting information from said scout robot to a picker robot further comprises transmitting said information from said scout robot to a server to said worker robot. 
     
     
         6 . An agricultural robot system comprising:
 at least one sensor; and,   a robot configured to move through a field and systematically collect data using said at least one sensor wherein said data is associated with a field, plant or crop and wherein said robot is configured to be driven by an operator through said agricultural field or wherein said robot is configured to autonomously navigate through said agricultural field.   
     
     
         7 . The system of  claim 6  wherein said at least one sensor comprises a camera. 
     
     
         8 . The system of  claim 6  wherein said robot collects data on a plurality of plants in said field. 
     
     
         9 . The system of  claim 6  wherein said robot collects data based on a statistical sampling of fewer than all plants in said field. 
     
     
         10 . The system of  claim 6  wherein said robot is further configured to harvest, prune, thin, spray, cull, weed, measure a fruit, vegetable or plant. 
     
     
         11 . The system of  claim 6  wherein said robot creates an action plan based on data gathered from said field. 
     
     
         12 . The system of  claim 6  further comprising a second processor system configured to create an action plan based on data gathered from said field. 
     
     
         13 . The system of  claim 10  wherein said robot performs harvesting, pruning, thinning, spraying culling, weeding, the measuring of fruit, vegetable or plant based on an action plan wherein said action plan is created by said robot based on data gathered from said field. 
     
     
         14 . The system of  claim 6  further comprising:
 one or more task specific robots further comprising at least one actuator and at least one camera; 
 an action plan gathered via said robot; and, 
 said robot configured to operate according to said action plan in an agricultural field using said at least one camera to interact with objects in said agricultural field using said at least one actuator. 
 
     
     
         15 . An agricultural robot system comprising:
 a robot further comprising
 a platform; 
 at least one drive wheel coupled with said platform; 
 at least one camera coupled with said robot; 
   an agricultural database populated from data gathered via said robot; and,   said robot configured to operate in an agricultural field using said at least one camera to interact with objects in said agricultural field and wherein said robot is configured to be driven by an operator through said agricultural field or wherein said robot is configured to autonomously navigate through said agricultural field.   
     
     
         16 . The system of  claim 15  further comprising:
 said robot configured to scout as a scout robot; 
 a picker robot comprising
 a second platform; 
 at least one second drive wheel coupled with said second platform; 
 at least one second camera coupled with said picker robot; 
 at least one harvest bin; and, 
 
 said scout robot and said picker robot configured to operate in an agricultural field using said at least one camera to interact with objects in said agricultural field and wherein said scout robot is configured to be driven by an operator through said agricultural field or wherein said scout robot is configured to autonomously navigate through said agricultural field and wherein said picker robot is configured to be driven by an operator through said agricultural field or wherein said picker robot is configured to autonomously navigate through said agricultural field.