Weeding Robot and Method

• US 20170238460A1
• Filed: 02/17/2017
• Published: 08/24/2017
• Est. Priority Date: 02/22/2016
• Status: Active Grant

• Current Assignee: Harvest Automation Merger SUB LLC
• Original Assignee: Franklin Robotics, Inc.
• Inventors: MacKean, Rory, Jones, Joseph L., Francis, JR., James T.
• Granted Patent: US 10,888,045 B2
• Time in Patent Office: Days
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01M 21/02 Apparatus for mechanical destruction hand-tools for uprooting weeds A01B1/16; machines for working soil and for weeding A01B39/18; harvesting machines A01D; cutting implements A01G3/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

An autonomous garden weeding robot includes a chassis, a motorized cutting subsystem, and a drive subsystem for maneuvering the chassis. A weed sensor subsystem is located on the chassis at a first elevation from the ground and a crop/obstacle sensor subsystem is located on the chassis at a second, higher elevation from the ground. The drive subsystem is controlled to maneuver the chassis about a garden. Upon detection of a weed, the motorized cutting subsystem is energized to cut the weed. The motorized cutting subsystem is de-energized after the chassis has moved a predetermined distance and/or after a predetermined period of time. Upon detection of a crop or obstacle, the drive subsystem is controlled to maneuver the chassis away from the obstacle.

Claims

1. A weeding robot comprising:

a chassis;

a motorized cutting subsystem;

a drive subsystem for maneuvering the chassis;

a weed sensor subsystem on the chassis at a first elevation from the ground;

a crop/obstacle sensor subsystem on the chassis at a second, higher elevation from the ground; and

a controller subsystem, responsive to the weed sensor subsystem and the crop/obstacle sensor subsystem and configured to;

control the drive subsystem to maneuver the chassis about a garden,

upon detection of a weed, energize the motorized cutting subsystem to cut the weed, and

upon detection of a crop or obstacle, control the drive subsystem to maneuver the chassis away from the obstacle.

2. The weeding robot of claim 1 in which the controller subsystem is further configured to de-energize the motorized cutting subsystem after the chassis has moved a predetermined distance and/or after a predetermined period of time.

3. The weeding robot of claim 1 in which the controller subsystem is configured to maneuver the chassis about the garden in a random or deterministic pattern.

4. The weeding robot of claim 1 further including at least one battery carried by the chassis for powering the motorized cutting subsystem and the drive subsystem and at least one solar panel carried by the chassis for charging the at least one battery.

5. The weeding robot of claim 4 in which the controller subsystem is further configured to de-energize the drive subsystem when the battery power is below a predetermined level.

6. The weeding robot of claim 1 in which the motorized cutting subsystem includes a motor proximate front of the chassis with a shaft carrying a string rotated below the chassis.

7. The weeding robot of claim 1 in which the drive subsystem includes four motorized wheels.

8. The weeding robot of claim 1 in which the weed sensor subsystem includes at least one capacitance sensor located under the front of the chassis.

9. The weeding robot of claim 8 in which the capacitance sensor is a capaciflector proximity sensor.

10. The weeding robot of claim 1 in which the crop/obstacle sensor subsystem includes right and left forward mounted capacitance sensors.

11. The weeding robot of claim 10 in which the right and left forward mounted capacitance sensors are capaciflector proximity sensors.

12. An autonomous weeding robot comprising:

a chassis;

a battery;

at least one solar panel on the chassis for charging the battery;

a motorized cutting subsystem powered by the battery; and

a drive subsystem for maneuvering the chassis and powered by the battery;

at least one capacitance weed sensor under a forward portion of the chassis;

at least one crop/obstacle capacitance sensor on the forward portion of the chassis; and

a controller subsystem, responsive to the capacitance weed sensor and the capacitance crop/obstacle sensor and configured to;

control the drive subsystem to maneuver the chassis about a garden,

upon detection of a weed, energize the motorized cutting subsystem to cut the weed,

de-energize the motorized cutting subsystem after the chassis has maneuvered a predetermined distance and/or after a predetermined period of time, and

upon detection of a crop or obstacle, control the drive subsystem to maneuver the chassis away from the obstacle.

13. A garden weeding method comprising:

equipping an autonomous robot with a motorized cutting subsystem;

maneuvering the robot about a garden;

detecting a weed;

upon detection of the weed, energizing the motorized cutting subsystem to cut the weed;

detecting a crop or obstacle; and

upon detection of the crop or obstacle maneuvering the robot away from the obstacle.

14. The method robot of claim 13 in which the motorized cutting subsystem is de-energized after the robot has moved a predetermined distance and/or after a predetermined period of time.

15. The method robot of claim 13 in which the robot maneuvers about the garden in a random or deterministic pattern.

16. The method robot of claim 13 further including powering the robot via at least one battery charged by at least one solar panel carried by the robot.

17. The method robot of claim 16 further including de-energizing the robot when the battery power is below a predetermined level.

18. The method robot of claim 13 in which the motorized cutting subsystem includes a motor with a shaft carrying a string.

19. The method robot of claim 13 in which detecting a weed includes detecting the capacitance of the weed.

20. A garden weeding method comprising:

equipping a robot chassis with a motorized cutting subsystem, a drive subsystem for maneuvering the chassis, a weed sensor subsystem on the chassis at a first elevation from the ground, and a crop/obstacle sensor subsystem on the chassis at a second, higher elevation from the ground;

controlling the drive subsystem to maneuver the chassis about a garden;

upon detection of a weed, energizing the motorized cutting subsystem to cut the weed; and

upon detection of a crop or obstacle, controlling the drive subsystem to maneuver the chassis away from the obstacle.

21. The method robot of claim 20 further including de-energizing the motorized cutting subsystem after the chassis has moved a predetermined distance and/or after a predetermined period of time.