GB2639803A - Systems and methods for depositing material on an uneven ground surface - Google Patents

Abstract

Methods and Systems for printing on an uneven ground surface with an autonomous deposition robot are disclosed. The methods and systems comprise driving the autonomous deposition robot in a first direction, detecting a first profile of the ground surface in a second direction, perpendicular to the first direction, and determining deposition instructions for the autonomous deposition robot, the deposition instructions comprising a deposition head height parameter, wherein the deposition head height parameter is based on the profile of the ground surface. Thus, there is provided improved high-resolution grand-scale accuracy of ground deposition with autonomous systems.

Claims (16)

CLAIMS:

1. A computer-implemented method of determining a deposition head height parameter for an autonomous deposition robot operable to move in a first direction on an uneven ground surface, the method comprising: receiving a first profile of the ground surface in a second direction, perpendicular to the first direction; and determining the deposition head height parameter for a deposition head of the autonomous deposition robot, wherein the deposition head height parameter is based on the profile of the ground surface.

2. The computer-implemented method of claim 1, further comprising scanning the deposition head in the second direction above the ground surface.

3. The computer-implemented method of claim 2, wherein the profile of the ground surface is first detected by a plurality of sensors while the deposition head is scanned in the second direction.

4. The computer-implemented method of claim 3, wherein the detecting a profile of the ground surface comprises: operating a sensor to detect the first profile of the ground surface; calculating a first plurality of distance values from the deposition head to the first profile of the ground surface; and storing the first plurality of distance values from the deposition head to the first profile of the ground surface as discrete elements in a first array, wherein the first array is a 2d array in the second direction.

5. The computer-implemented method of claim 4, further comprising: driving the autonomous deposition robot in the first direction one step; operating the sensor to detect a second profile of the ground surface; calculating a second plurality of distance values from the deposition head to the second profile of the ground surface; and storing the second plurality of distance values from the deposition head to the second profile of the ground surface as discrete elements in a second array; wherein the second array is a 2d array in the second direction.

6. The computer-implemented method of any of claims 4 or 5, further comprising depositing material on the ground surface using the head height parameter as the height of the deposition head.

7. The computer-implemented method of claim 6, wherein the material for deposition is at least one of a herbicide, pesticide, insecticide, plant growth aid, water, or marking material.

8. The computer-implemented method of claim 7, wherein the deposition on the ground surface is carried out in a plane corresponding to the first profile.

9. The computer-implemented method of claims 7 or 8, wherein the detection of the profile of the ground surface and the deposition of material on the ground surface are carried out in parallel.

10. The computer-implemented method of claim 6, wherein one step is equal to the size of an area of deposition of the deposition head.

11. The computer-implemented method of any of claims 1 to 10, further comprising sending the deposition head height parameter to at least one other autonomous deposition robot.

12. The computer-implemented method of any of claims 5 to 11, wherein the first profile of the ground surface abuts the second profile of the ground surface.

13. A system for determining deposition instructions for an autonomous deposition robot on an uneven ground surface, wherein the autonomous deposition robot is operable to deposit material on the uneven ground surface, the system comprising: a autonomous deposition robot, wherein each autonomous deposition robot comprises: at least one receptacle to hold a deposition material; at least one deposition arrangement; a locomotion arrangement; a control unit, the control unit configured to: instruct the locomotion arrangement to drive the autonomous deposition robot in a first direction; receive a first profile of the ground surface in a second direction, perpendicular to the first direction; and determine a deposition arrangement height parameter, wherein the deposition height parameter is based on the profile of the ground surface.

14. The system of claim 13, wherein the system comprises a sensor arrangement, the sensor arrangement comprising at least one of a LiDAR sensor, an LED time of flight sensor, a camera, an ultrasonic sensor, or a light source.

15. The system of claim 14, the control unit further configured to: operate the sensor arrangement to detect a first portion of the ground surface; calculate a first plurality of distance values from the deposition arrangement to the first portion of the ground surface; and store the first plurality of distance values from the deposition arrangement to the first portion of the ground surface as discrete elements in a first array, wherein the first array is a 2d array in the second direction.

16. The system of claim 15, the control unit further configured to: instruct the locomotion arrangement to advance in the first direction one step, a step being equivalent to a deposition area of the deposition arrangement; operate the sensor arrangement to detect a second portion of the ground surface; calculate a second plurality of distance values from the deposition arrangement to the second portion of the ground surface; and store the second plurality of distance values from the deposition arrangement to the second portion of the ground surface as discrete elements in a second array; wherein the second array is a 2d array in the second direction and the first portion of the ground surface abuts the second portion of the ground surface. The system of any of claims 13 to 16, wherein the locomotion arrangement is a ground wheel arrangement. The system of any of claims 13 to 17, the autonomous deposition robot further comprising a chassis with a traverse guide, the deposition arrangement affixed to the traverse guide in operation, the traverse guide permitting movement of the nozzle array in the second direction beyond the width of the ground wheel arrangement. The system of claim 18, wherein the traverse guide is movable relative to the ground wheel arrangement in the second direction, so that material can be deposited an area while the ground wheel arrangement is stationary. The system of any of claims 13 to 19, wherein the material for deposition is at least one of a herbicide, pesticide, insecticide, plant growth aid, water, or marking material.