U.S. patent application number 14/163722 was filed with the patent office on 2014-10-23 for methods and systems for maintenance and other processing of container-grown plants using autonomous mobile robots.
This patent application is currently assigned to Harvest Automation, Inc.. The applicant listed for this patent is Harvest Automation, Inc.. Invention is credited to Charles M. Grinnell, Joseph L. Jones, Paul E. Sandin, Clara Vu.
Application Number | 20140316557 14/163722 |
Document ID | / |
Family ID | 48173218 |
Filed Date | 2014-10-23 |
United States Patent
Application |
20140316557 |
Kind Code |
A1 |
Jones; Joseph L. ; et
al. |
October 23, 2014 |
METHODS AND SYSTEMS FOR MAINTENANCE AND OTHER PROCESSING OF
CONTAINER-GROWN PLANTS USING AUTONOMOUS MOBILE ROBOTS
Abstract
A system is provided for processing container-grown plants
positioned in a given area. The system includes a processing
station positioned in the area for processing the container-grown
plants. It also includes one or more autonomous mobile container
handling robots configured to: (i) travel to a source location in
the area and pick up a container-grown plant, (ii) transport the
container-grown plant to the processing station where a process is
performed on the container-grown plant, (iii) transport the
container-grown plant from the processing station to a destination
location in the area, (iv) deposit the container-grown plant at the
destination location, and (v) repeat (i) through (iv) for a set of
container-grown plants in the source location.
Inventors: |
Jones; Joseph L.; (Acton,
MA) ; Vu; Clara; (Cambridge, MA) ; Sandin;
Paul E.; (Brookline, NH) ; Grinnell; Charles M.;
(Arlington, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Harvest Automation, Inc. |
Billerica |
MA |
US |
|
|
Assignee: |
Harvest Automation, Inc.
Billerica
MA
|
Family ID: |
48173218 |
Appl. No.: |
14/163722 |
Filed: |
January 24, 2014 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
13287612 |
Nov 2, 2011 |
8676425 |
|
|
14163722 |
|
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Current U.S.
Class: |
700/226 ;
700/225; 700/228; 901/1; 901/30 |
Current CPC
Class: |
G05D 1/0287 20130101;
G05D 2201/0207 20130101; A01C 21/00 20130101; B65G 43/00 20130101;
G05D 2201/0216 20130101; Y10S 901/01 20130101; G05D 1/0246
20130101; Y10S 901/30 20130101; G05D 1/0276 20130101; B25J 9/1602
20130101; G05D 1/0234 20130101; G05D 2201/0201 20130101 |
Class at
Publication: |
700/226 ;
700/228; 700/225; 901/1; 901/30 |
International
Class: |
B65G 43/00 20060101
B65G043/00; B25J 9/16 20060101 B25J009/16 |
Claims
1. A method of processing container-grown plants positioned in a
given area, comprising: (a) picking up a container-grown plant at a
source location in the area and transporting the container-grown
plant to a processing station using an autonomous mobile robot; (b)
processing the container-grown plant at the processing station; (c)
transporting the container-grown plant from the processing station
to a destination location in the area and depositing the
container-grown plant at the destination location using an
autonomous mobile robot; and (d) repeating steps (a) through (c)
for a set of container-grown plants in the source location.
2. The method of claim 1, further comprising carrying the
container-grown plant through the processing station using the same
autonomous mobile robot while the container-grown plant is being
processed.
3. The method of claim 1, wherein steps (a) and (c) are performed
by different autonomous mobile robots.
4. The method of claim 1, further comprising detecting a physical
condition relating to the container-grown plant, and processing the
container-grown plant in accordance with the detected physical
condition.
5. The method of claim 4, wherein the physical condition comprises
a soil moisture level or a soil pH level.
6. The method of claim 1, further comprising enabling wireless
communication between the processing station and the mobile
autonomous robot.
7. The method of claim 1, further comprising commanding the robot
to perform a specified action when said robot is within the
processing station.
8. The method of claim 1, further comprising automatically moving
the processing station in a direction towards the source location
as container-grown plants are moved from the source location to the
destination location.
9. The method of claim 1, wherein each container-grown plant
includes a machine-readable unique identifier, and wherein the
method further comprises reading the unique identifier of each
container-grown plant processed by the processing station.
10. The method of claim 10, wherein the machine-readable unique
identifier comprises a bar code, quick response code, or RFID
tag.
11. The method of claim 10, further comprising recording or
transmitting to a remote data processing site the unique identifier
of each container-grown plant processed by the processing station
and information on the process performed.
12. The method of claim 10, further comprising communicating
information on the source location or the destination location of a
container-grown plant by the autonomous mobile robot to the
processing station when the processing station processes the
container-grown plant, and records or transmits to a remote data
processing site the information with the unique identifier of the
container-grown plant.
13. The method of claim 1, step (b) comprises applying a substance
to a container-grown plant.
14. The method of claim 1, step (b) comprises weeding a
container-grown plant.
15. The method of claim 1, step (b) comprises re-potting a
container-grown plant.
16. The method of claim 1, step (b) comprises grading a
container-grown plant.
17. The method of claim 1, step (b) comprises sorting a
container-grown plant.
18. The method of claim 1, step (b) comprises trimming a
container-grown plant.
19. The method of claim 1, wherein the processing station comprises
an enclosure, within which step (b) is performed.
20. The method of claim 1, further comprising detecting and
following a boundary marker by the autonomous mobile robot to
locate the processing station, the destination location, or the
source location.
21. The method of claim 1, further comprising providing a
controlled lighting environment within the processing station,
enabling use of vision-based equipment to process the
container-grown plant.
22. The method of claim 1, further comprising providing a uniform
background within the processing station, enabling use of
vision-based equipment to process the container-grown plant.
23. The method of claim 1, wherein processing the plant comprises
physically altering a container-grown plant.
24. The method of claim 1, wherein processing the plant comprises
selectively removing portions of a container-grown plant.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application is a division of and claims priority to
U.S. patent application Ser. No. 13/287,612 filed on Nov. 2, 2011
entitled METHODS AND SYSTEMS FOR MAINTENANCE AND OTHER PROCESSING
OF CONTAINER-GROWN PLANTS USING AUTONOMOUS MOBILE ROBOTS, which is
incorporated by reference herein.
BACKGROUND
[0002] The present application relates generally to plant nursery
operations and, more particularly, to methods and systems utilizing
autonomous mobile robots for maintenance or other processing of
container-grown plants.
[0003] Automation in the nursery and greenhouse sector of the
agriculture market is generally confined to large greenhouses. Such
greenhouses typically utilize fixed rails and conveyors to move
plant-holding containers about the greenhouse, where various
processes are performed on the plants as they mature. The
controlled, indoor environment of the greenhouse is conducive to
implementation of automatic machinery that can bring needed
resources to each plant, and also transport plants to particular
machines such as vision systems used for grading and sorting
plants.
[0004] Growers whose products are grown mostly on large outdoor
fields (typical of many operators in the United States) make do
with manual labor. Automated machinery and vision systems developed
for indoor use are not generally used by outdoor growers as these
systems are not well-suited to work in uncontrolled and
unstructured environments.
BRIEF SUMMARY
[0005] In accordance with one or more embodiments, a system is
provided for processing container-grown plants positioned in a
given area. The system includes a processing station positioned in
the area for processing the container-grown plants. It also
includes one or more autonomous mobile container handling robots
configured to: (i) travel to a source location in the area and pick
up a container-grown plant, (ii) transport the container-grown
plant to the processing station where a process is performed on the
container-grown plant, (iii) transport the container-grown plant
from the processing station to a destination location in the area,
(iv) deposit the container-grown plant at the destination location,
and (v) repeat (i) through (iv) for a set of container-grown plants
in the source location.
[0006] In accordance with one or more further embodiments, a method
is provided for processing container-grown plants positioned in a
given area. The method includes the steps of: (a) picking up a
container-grown plant at a source location in the area and
transporting the container-grown plant to a processing station
using an autonomous mobile robot; (b) processing the
container-grown plant at the processing station; (c) transporting
the container-grown plant from the processing station to a
destination location in the area and depositing the container-grown
plant at the destination location using an autonomous mobile robot;
and (d) repeating steps (a) through (c) for a set of
container-grown plants in the source location.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 is high-level diagram illustrating a first example of
an automated plant processing operation in accordance with one or
more embodiments.
[0008] FIG. 2 is high-level diagram illustrating a second example
of an automated plant processing operation in accordance with one
or more embodiments.
[0009] FIG. 3 is high-level diagram illustrating a third example of
an automated plant processing operation in accordance with one or
more embodiments.
[0010] FIG. 4 is a perspective view of an exemplary autonomous
mobile robot that can be used in automated plant processing
operations in accordance with one or more embodiments.
[0011] FIG. 5 is a simplified block diagram illustrating components
of the exemplary autonomous mobile robot of FIG. 4.
[0012] FIG. 6 is a perspective view of an exemplary processing
station in accordance with one or more embodiments.
DETAILED DESCRIPTION
[0013] Various embodiments disclosed herein are directed to
automated techniques for maintenance or other processing of
container-grown plants in a variety of environments, including
outdoor and unstructured environments. Such techniques allow
growers, especially outdoor growers, to achieve enhanced
productivity, improved plant quality, and more efficient resource
usage. The techniques are also scalable, allowing users to
implement as much or as little automation as needed.
[0014] The automation techniques are especially useful for
container-grown plants on outdoor growing fields or beds. When the
plants need care of some sort or other processing, one or more
autonomous mobile robots pick up containers holding the plants and
transport them to a processing station, where desired operations
are performed on the plants. The robot that carried the plant or
another robot then transports the plant to a given destination
location in the growing field. The autonomous robots replace human
labor needed to transport containers. The versatility and
adaptability of the robots makes it possible to implement the
automation techniques in unstructured outdoor environments.
[0015] Processing stations in accordance with various embodiments
provide a variety of features and resources enabling improved
production of plants. They provide a controlled environment that is
otherwise available only indoors, allowing a variety of processes
to be performed on the plants. Such processes can include, among
others, automated plant grading or sorting using machine vision
techniques. The processing stations in some embodiments are
mobile.
[0016] The processing stations provide an enclosure in which the
plants can be provided a variety of substances they need for proper
growth such as, e.g., water, pesticides, or other chemicals or
compounds. The amount of a substance to be dispensed on each plant
can, in some embodiments, be determined based on readings from
sensors in the station or on the robot. Alternatively, the amount
of the substance to be dispensed can be programmed by a user. The
processing stations reduce resource use and reduce or avoid
contamination of the surrounding environment and workers' exposure
to undesirable chemicals.
[0017] Plants and/or containers can be physically altered within
processing stations to aid in production. Alteration can include,
e.g., trimming the plant or repotting the plant. The station can
manage the materials added or removed from the process.
[0018] Non-limiting examples are provided below illustrating
automation techniques in accordance with various embodiments.
Example 1
[0019] FIG. 1 illustrates an example of an automated plant
maintenance or other processing operation in accordance with one or
more embodiments. A growing field or bed 10 includes a plurality of
plant-holding containers 12. One or more robots 14 (only one is
shown in this example) pick up plant-holding containers (one or a
small number at a time) in a pickup or source region (shown on the
left side of the field in the figure) of the growing field 10. The
robot 14 transports the plant-holding containers through a
processing station 16, where one or more plant maintenance or other
processes are carried out. After exiting the processing station,
the robot 14 deposits the plant-holding containers in a destination
region (shown on the right side of the field in figure) of the
growing field 10. As discussed below, a boundary marker 18
detectable by the robot 14 can be used by the robot to locate the
processing station 16 and, in some embodiments, to locate the
source of destination locations.
[0020] As shown in FIG. 1, at step A, the robot picks up a
plant-holding container 12 in the source region of the growing
field and backs away from the container pickup point. At step B,
the robot turns in a direction toward the boundary marker 18 and
drives forward until robot sensors detect the boundary marker. Once
the boundary marker is detected, the robot aligns with the boundary
marker at step C. The robot follows the boundary marker using the
sensors to drive along the boundary while keeping a set distance
from the boundary. In this example, the boundary marker passes
through the processing station. The robot follows the boundary
marker and thereby passes through the processing station. As the
robot passes through the processing station, at step D', an
operation is performed on the plant. Non-limiting examples of
operations include, spraying the plant with pesticides or
herbicides, watering, pruning, mechanical weeding, grading, and
sorting. After exiting the station, at step E, the robot detects
and aligns itself with a row of containers in the destination area
of the growing field that have already been processed at the
station. At step F, the robot moves along the row until it detects
an available space for the container it carries. At step G, the
robot deposits the container. At step H, the robot returns to the
source area of the growing field to detect and collect another
plant-holding container 12 for processing.
[0021] In accordance with one or more embodiments, the robot
communicates with the processing station as the robot passes
through it. The station may detect the presence of the robot and
activate some operation, e.g., spraying. The station may direct the
robot to move in a particular way (slower, faster, turning left or
right, etc.) as the robot passes through to improve performance of
the operation.
[0022] The robot may be equipped with condition detecting sensors
to sense some condition of the plant as it carries the plant (e.g.,
the moisture content or soil pH). In this case, the robot can
communicate the needs of the plant to the station. The station then
applies an appropriate amount of water, nutrient, or other
substance (or takes some other action) as the robot carries the
plant through the station. Alternatively, the processing station
may be equipped with sensors to detect plant conditions.
[0023] In accordance with one or more embodiments, the robot and
the processing station can communicate, if needed, using a wireless
communications system such as a radio frequency (RF) based
communication system (e.g., WiFi or other wireless standard) or an
infrared (IR) or other system.
Example 2
[0024] In this example illustrated in FIG. 2, a robot picks up a
plant-holding container on the field and leaves the container at
the processing station. Either the same or a different robot 14'
then retrieves the container from the processing station after some
operation has been performed, and deposits the container on the
field. This method is particularly suitable for operations that
require robots picking up and depositing containers to be
configured differently. It is also suitable for processing
operations that are better performed without involvement of the
robot.
[0025] For certain types of maintenance or other operations, it may
be advantageous to use differently configured robots to carry
containers to and from the processing station. For example, when
plants need to be repotted, the plants will typically be in smaller
containers when they arrive at the processing station and in larger
containers when they leave. In this example, robot with a small
gripper spacing can be used to deliver containers to the processing
station. A robot with a larger gripper spacing picks up containers
from the station and returns them to the field.
[0026] Repotting is an example of a typically manual operation. The
robots can work in a system with either manual or automated
processing stations.
[0027] Additionally, some kinds of operations require the station
to perform multiple tasks that can be done in sequence to the
plant. As an example, if three tasks are performed within the
station, each taking 10 seconds, it may be more efficient to have
robots drop off and pick up plants every 10 seconds than to have
each robot wait for the 30 second operation time within the
station.
[0028] As shown in FIG. 2, at step A, the robot picks up a
plant-holding container 12 and backs away from the container pickup
point. At step B, the robot turns toward the boundary marker 18 and
drives forward until robot sensors detect the boundary marker. Once
the boundary marker is detected, the robot aligns with the boundary
at step C, and moves to the processing station at step D. At step
H', the robot leaves the container at the station. At steps G and
H, the robot turns and moves towards the pickup area to collect
another plant-holding container 12 for delivery to the station.
[0029] Once an operation has been performed on the plant, it is
picked up by the same or different robot from the processing
station and deposited in the destination area of the field as
described in Example 1.
Example 3
[0030] FIG. 3 illustrates an example of a process used for grading
and sorting plants in accordance with one or more embodiments.
Plants with different characteristics (e.g., different height,
different number of blossoms, etc.--identified in the figure by a,
b, and c) are intermingled on the left side of the field. The robot
carries the plants through the processing station, which identifies
the grade of the plant. Once identified, the station communicates
the grade of the plant to the robot. The robot then selectively
deposits the plants on the field such that plants of the same grade
are aggregated in one place.
[0031] State-of-the-art vision equipment typically requires a
known, uniform background and controlled lighting in order to
classify plants reliably. The contained environment of the
maintenance station can provide these conditions in an outdoor
field. This enables use of existing vision-based solutions in
outdoor environments.
[0032] In all the examples described above, the processing station
can be either manual or automatic. Further, the station can be
mobile and can either advance itself automatically down the field
by following the boundary marker (in generally the same way as
robots using a boundary detection system) or it can be manually
moved into a new position as required.
[0033] One or many robots can be used simultaneously in the
automated plant processing operations in accordance with various
embodiments. Increasing the number of robots increases throughput
up to a point.
[0034] The plant-holding containers that are collected or deposited
by robots can have either compact or distributed spacing
arrangements on the field. For example, in FIG. 3 the containers
being picked up by robots in the pickup or source area of the field
have a distributed spacing arrangement, and the containers
deposited by the robots in the destination area of the field have a
compact spacing arrangement.
[0035] In various examples described above, the source area of the
containers, the robot, the station, and the destination area of the
containers are all located on a contiguous, relatively flat surface
of an outdoor field or bed. It should be understood that the
automated processes in accordance with various embodiments can also
be implemented indoors, e.g., on the floor of a greenhouse.
[0036] A variety of autonomous robots can be used to perform the
functions described herein including, e.g., the robots disclosed in
co-pending U.S. patent application Ser. No. 12/378,612 filed on
Feb. 18, 2009 and entitled ADAPTABLE CONTAINER HANDLING SYSTEM and
U.S. patent application Ser. No. 13/100,763 filed on May 4, 2011
and entitled ADAPTABLE CONTAINER HANDLING ROBOT WITH BOUNDARY
SENSING SUBSYSTEM. Both applications are assigned to the assignee
of the present application and are incorporated by reference herein
in their entirety.
[0037] FIG. 4 illustrates an example of a robot that can be used in
the automated plant processing operations in accordance with
various embodiments. FIG. 5 is a block diagram of various
components of the robot. As discussed above, the robot is an
autonomous mobile robot able to identify, pick up, transport, and
deposit container-holding plants. The robot is also able to detect
a physical marker such as a boundary marker to guide the robot to
or through a processing station and locate a destination area to
deposit plant-holding containers that have been processed. In some
embodiments, the robot and the processing station can communicate
with each other.
[0038] The robot includes a platform with a drive subsystem 50 and
a boundary sensing subsystem 52 for detecting boundary markers. It
also includes a container/obstacle detection subsystem 54 for
detecting containers, other robots, and obstacles. The robot
includes a microprocessor-based controller subsystem 56 for
controlling operation of the robot in performing programmed
behaviors. A power supply 58 for all the subsystems can include one
or more rechargeable batteries.
[0039] In some embodiments, the drive subsystem takes the form of a
differential drive comprising two coaxial wheels and a roller for
balance. The wheels are driven together or independently by one or
more motors and a drive train controlled by the controller
subsystem.
[0040] The boundary sensing subsystem includes one or more boundary
detecting sensors able to detect the position of a boundary marker.
The boundary marker can comprise a retro-reflective tape or rope
laid on the ground. By way of example, the boundary detecting
sensors can each comprise a photodiode-based sensor and one or more
radiation sources (e.g., LEDs) to servo on the boundary marker.
[0041] The boundary marker is placed on the field to identify the
edge of the field to the robot. The processing station can be
positioned on the field at a location near the boundary such that
the robot can find the station by following the boundary marker.
Thus, if the processing operation requires robots to move
containers through the station (as described in Examples 1 and 3),
the station is positioned such that the robot can drive through the
station while following the boundary marker. If the robots deliver
containers to the station and pick them up from the station (as
described in Example 2), the station can be positioned to intersect
the boundary marker.
[0042] The container/obstacle detection subsystem can include one
or more range sensors to detect plant-holding containers, other
robots, and obstacles. In some embodiments, the range sensor is a
wide-angle (120 degree) range sensor. Raw range sensor data (in the
form of a list of angle and range readings) supplied by the sensor
is processed by a computer processor (e.g., a processor in the
controller subsystem) to return the position of containers, other
robots, and obstacles.
[0043] Each robot also includes a user interface 60 allowing users
to instruct the robot as to which type of action it should perform
and to input the values of certain parameters. Parameters can
include the diameter of a plant-holding container, the width of the
field, the container putdown pattern (e.g., rectangular or
hexagonal patterns), and the distance between containers in the
pattern.
[0044] The robot includes a plant container transport mechanism 62,
which includes a gripper controlled by the controller subsystem to
grasp and pick up or deposit a plant-holding container.
[0045] The controller subsystem is configured (e.g., programmed) to
perform various functions, including identifying, picking up,
transporting, and depositing container-holding plants. The
controller subsystem is responsive to the output of boundary
sensing subsystem and the output of container/obstacle detection
subsystem. The controller subsystem controls the drive subsystem
(e.g., a motor) to detect and follow a boundary marker to lead the
robot to a processing station or an area to pick up or deposit a
plant-holding container as discussed above.
[0046] The controller subsystem can also control the drive
subsystem 50 to maneuver the robot to a prescribed container source
location. The system can include a radio frequency or other (e.g.,
infrared) beacon transmitter positioned in the source area of the
field, and the robot can include a receiver for receiving a signal
from the beacon transmitter to assist the robot in returning to the
container source location (based, e.g., on signal strength). Dead
reckoning, boundary following, and other techniques can
alternatively be used to assist the robot in returning to the
source of the containers.
[0047] In addition to the robots, the processing station itself can
be autonomous. That is, the processing station can move along the
boundary marker, proceeding toward the unprocessed plants as plants
are processed and the frontier moves down the field (e.g., to the
left in FIG. 1).
[0048] The robots and station are configured to coordinate their
activities. Depending on the requirements of the processing task,
the robot may need to stop when it is within the station. Also, an
autonomous processing station may need to remain stationary while a
robot is within it. In the types of processing described in
Examples 1 and 3, the robot and station can communicate with each
other using a wireless communication system. By way of example, the
station and the robots utilize an RF-based communication system
such as WiFi or another format with similar capability.
[0049] The robot can discover that it is within the station or,
alternately, for the station can learn that it is currently hosting
a particular robot.
[0050] FIG. 6 is a perspective view of an exemplary processing
station 16. The station 16 includes a communications port 80, shown
schematically to represent an RF antenna, an IR emitter/detector,
or other communication system.
[0051] In accordance with one or more embodiments, each robot
includes an IR emitter able to transmit a code that uniquely
identifies a particular robot. The processing station contains an
IR detector able to intercept this code. Because the robots already
contain IR-based boundary followers, the robot/station
detection/communication system can be piggybacked on this system.
The processing station is preferably able to receive the robot's IR
signal only when the robot is physically within the station.
[0052] When the processing station detects a signal from its IR
receiver, it determines that the robot associated with that
particular signal is present. The station then uses the received
code to broadcast a message over its RF link. When a robot receives
a message from the station it compares its unique transmit code
with the code received. Only the robot within the station has the
matching code. In this way communication can be established between
the robot and the station. With communication thus established, the
station can instruct the robot to stop or to perform some maneuver
(e.g., spin in place or otherwise move).
[0053] Alternately, all communication between robot and station can
be carried out using an IR system. The system can be geometrically
restricted such that there is no ambiguity, i.e., the robot and
station are always correctly paired.
[0054] In accordance with one or more further embodiments, the
processing station can collect and record inventory and other
information on container-grown plants. Currently, nursery growers
have little information or data concerning intermediate stages of
plant production because such information is collected manually,
which can be expensive. Nursery growers may not even know exactly
how much inventory they have and where it is located on the site.
In accordance with one or more embodiments, each container-grown
plant includes a unique identifier (e.g., an RFID tag or a barcode
or quick response code). The processing station includes a reader
for reading the unique identifier. Each time a robot brings a plant
to the processing station, the reader interrogates the barcode or
RFID tag or other identifier associated with the container in which
the plant is grown. Thus, the condition of each plant at a
particular time, and operations that are performed on the plant can
all be recorded. The robot or the processing station may also be
configured to know the position of a container-grown plant on the
site, which then ties the production information with the location
of each plant within the operation. This high granularity
information gives growers a better picture of the state of their
business and, by relating inputs to plant response, enables growers
to improve plant quality and consistency, as well as operational
efficiency. The data collected by the processing station can be
transmitted to a remote data processing site for evaluation.
[0055] During processing operations where robots move through the
processing station (such as the operations described in Examples 1
and 3), each robot repeatedly moves between the frontiers of the
processed and unprocessed containers. Twice per cycle the robot is
then able to measure this distance. The robot can thus compute the
distance at which the station should be positioned. If, when the
robot enters the station, the station is too near or too far from
the unprocessed frontier, the robot can inform the station that it
should move one direction or the other. This method enables the
station (which ordinarily cannot sense the container frontiers) to
position itself correctly with respect to the frontiers.
[0056] Processing proceeds down the field moving toward the
unprocessed plants. At some point, the robot will encounter the end
of the field. The end can be indicated by a physical barrier or by
a marker similar (or identical to) the boundary marker. When the
robot can find no more unprocessed containers and can proceed no
farther down the field without crossing the barrier or tape, the
robot halts.
[0057] Having thus described several illustrative embodiments, it
is to be appreciated that various alterations, modifications, and
improvements will readily occur to those skilled in the art. Such
alterations, modifications, and improvements are intended to form a
part of this disclosure, and are intended to be within the spirit
and scope of this disclosure. While some examples presented herein
involve specific combinations of functions or structural elements,
it should be understood that those functions and elements may be
combined in other ways according to the present disclosure to
accomplish the same or different objectives. In particular, acts,
elements, and features discussed in connection with one embodiment
are not intended to be excluded from similar or other roles in
other embodiments. Additionally, elements and components described
herein may be further divided into additional components or joined
together to form fewer components for performing the same
functions.
[0058] The processes the robots are programmed to perform as
described above may be implemented in software, hardware, firmware,
or any combination thereof. The processes are preferably
implemented in one or more computer programs executing on the
programmable controller subsystem, which includes a processor, a
storage medium readable by the processor (including, e.g., volatile
and non-volatile memory and/or storage elements), and input and
output devices. Each computer program can be a set of instructions
(program code) in a code module resident in a random access memory.
Until required, the set of instructions may be stored in another
computer memory (e.g., in a hard disk drive, or in a removable
memory such as an optical disk, external hard drive, memory card,
or flash drive) or stored on another computer system and downloaded
via the Internet or other network.
[0059] Accordingly, the foregoing description and attached drawings
are by way of example only, and are not intended to be
limiting.
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