Self-maintaining, solar powered, autonomous robotics system and associated methods
An autonomous ground vehicle for agricultural plant and soil management operations. According to some embodiments, autonomous ground vehicle includes: one or more camera units configured to generate images, an energy storage unit, a solar panel unit, a solar panel control mechanism, a first mechanical arm having a first end effector, an electronic memory storage medium comprising computer-executable instructions; one or more processors in electronic communication with the electronic memory storage medium, configured to execute the computer-executable instructions stored in an electronic memory storage medium for implementing a method of for agricultural plant and soil management operations.
1 . An autonomous ground vehicle comprising:
a ground vehicle unit having two or more wheels or mechanical propulsion mechanisms coupled to the ground vehicle unit;
one or more camera units coupled to the ground vehicle unit, the one or more camera units configured to generate images;
an energy storage unit housed in the ground vehicle unit;
a solar panel unit coupled to the ground vehicle unit, the solar panel unit electrically coupled to the ground vehicle unit, the solar panel unit configured to electrically recharge the energy storage unit;
a solar panel control mechanism configured to change an angle of tilt of the solar panel unit relative to the ground vehicle unit, wherein the angle of tilt of the solar panel unit can be changed as the ground vehicle unit moves to improve solar power generation;
a first mechanical arm coupled to a first undercarriage portion of the ground vehicle unit, the first mechanical arm having a first end effector;
a non-transitory electronic memory storage medium housed in the ground vehicle unit, the non-transitory electronic memory storage medium comprising computer-executable instructions; and
one or more processors housed in the ground vehicle unit, the one or more processors in electronic communication with the non-transitory electronic memory storage medium, the one or more processors configured to execute the computer-executable instructions stored in the non-transitory electronic memory storage medium for implementing a method comprising:
analyzing, by the one or more processors, the generated images to identify a plant organism and surrounding soil;
determining, by the one or more processors, that the identified plant organism is set for plant organism control based on a plant species type of the identified plant organism;
generating, by the one or more processors, ground vehicle unit control instructions configured to advance the ground vehicle unit and/or the first mechanical arm to be within a threshold proximity of the identified plant organism;
generating, by the one or more processors, mechanical arm control instructions for mechanical control comprising:
positioning at least the first end effector to be in contact with soil distal to the identified plant organism;
moving the first end effector through the soil to remove at least a portion of the identified plant organism;
executing, by the one or more processors, the generated mechanical arm control instructions; and
generating, by the one or more processors, solar panel control instructions for the solar panel control mechanism to change the angle of tilt of the solar panel unit based on a relative position of the sun to the ground vehicle unit.
2 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle is configured to combine with a second autonomous ground vehicle by connecting an adaptor between the autonomous ground vehicle and the second autonomous ground vehicle to form a large autonomous ground vehicle.
3 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle further comprises a camera cleaning system.
4 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle further comprises a camera cleaning system, and wherein the camera cleaning system comprises at least one of: a cooling system; and the solar panel unit, wherein the solar panel unit is further configured to pivot up and down to create an air flow.
5 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle further comprises a second mechanical arm coupled to a second undercarriage portion of the ground vehicle unit, the second mechanical arm having a second end effector.
6 . The autonomous ground vehicle of claim 1 , wherein the solar panel control mechanism comprises one or more linear actuators coupled to the ground vehicle unit at a first end and the solar panel unit at a second end, wherein the one or more linear actuators are configured to adjust the angle of tilt the solar panel unit.
7 . The autonomous ground vehicle of claim 1 , wherein the solar panel control mechanism comprises a pulley lift system, the pulley lift system comprising:
a motor;
one or more spools coupled to the motor;
one or more spring hinges, wherein the one or more spring hinges are coupled to the ground vehicle unit and the solar panel unit; and
one or more cables, wherein each cable of the one or more cables comprises a first cable end and a second cable end, wherein the first cable end is coupled to the solar panel unit and the second cable end is coupled to and spooled around one of the one or more spools.
8 . The autonomous ground vehicle of claim 1 , wherein the solar panel control mechanism comprises a pulley lift system, the pulley lift system comprising:
a motor;
one or more spools coupled to the motor;
one or more spring hinges, wherein the one or more spring hinges are coupled to the ground vehicle unit and the solar panel unit; and
one or more cables, wherein each cable of the one or more cables comprises a first cable end and a second cable end, wherein the first cable end is coupled to the solar panel unit and the second cable end is coupled to and spooled around one of the one or more spools,
wherein the one or more spring hinges are configured to bias the solar panel unit to a maximum angle, wherein the pulley lift system is configured to control and adjust the angle of tilt the solar panel unit.
9 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle is configured to communicate with one or more third party systems.
10 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle is configured to communicate with one or more third party systems, wherein the one or more third party systems comprise at least one of a computer system and a database.
11 . The autonomous ground vehicle of claim 1 , wherein the solar panel unit comprises one or more machine-readable codes, wherein the one or more machine-readable codes can be used to identify the autonomous ground vehicle.
12 . The autonomous ground vehicle of claim 1 , wherein the computer-executable instructions, when executed by the one or more processors, further cause implementation of a carbon estimation operation comprising:
generating, by the one or more camera units, a first set of images comprising one or more images of a first layer of soil under the autonomous ground vehicle;
analyzing, by the one or more processors, the first set of images to determine a soil color of the first layer of soil; and
determining, by the one or more processors, a soil carbon estimate of the first layer of soil in the first set of images.
13 . The autonomous ground vehicle of claim 12 , wherein the carbon estimate operation further comprises:
generating, by the one or more processors, additional mechanical arm control instructions comprising:
positioning the first end effector to be in contact with the first layer of soil; and
moving the first end effector through the first layer of soil to remove at least a portion of soil, wherein moving at least a portion of the soil exposes a second layer of soil;
executing, by the one or more processors, the additional mechanical arm control instructions;
generating, by the one or more camera units, a second set of images comprising one or more images of the second layer of soil;
analyzing, by the one or more processors, the generated second set of images to determine a soil color of the second layer of soil; and
determining, by the one or more processors, a soil carbon estimate of the second layer of soil in the second set of images.
14 . The autonomous ground vehicle of claim 12 , wherein the autonomous ground vehicle is configured to perform the carbon estimation operations at night.
15 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle further comprises one or more lights configured to illuminate at least the soil beneath the ground vehicle unit.
16 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle further comprises a second mechanical arm coupled to a second undercarriage portion of the ground vehicle unit, the second mechanical arm having a second end effector, and wherein at least one of the first mechanical arm and the second mechanical arm comprise a color calibration component.
17 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle is configured to discharge from the energy storage unit into a residential grid.
18 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle is configured to determine a local wind speed, and wherein the autonomous ground vehicle is configured to perform wind protection operations based on the determined local wind speed.
19 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle further comprises a second mechanical arm coupled to a second undercarriage portion of the ground vehicle unit, the second mechanical arm having a second end effector, wherein the autonomous ground vehicle is configured to determine a local wind speed, and wherein the autonomous ground vehicle is configured to perform wind protection operations based on the determined local wind speed, wherein wind protection operations comprise at least one of: returning to a base of operations, looking for shelter, orientating the ground vehicle unit to be more aerodynamic, and latching to ground below the ground vehicle unit using the first mechanical arm and second mechanical arm.
20 . The autonomous ground vehicle of claim 1 , wherein the autonomous ground vehicle further comprises a cooling system, the cooling system comprising:
an air inlet;
an air outlet;
one or more filters; and
at least one of a heatsink or a fan, wherein the cooling system is configured to cool a central electronic unit of the autonomous ground vehicle.