Weeding robot and method

• US 10,888,045 B2
• Filed: 02/17/2017
• Issued: 01/12/2021
• 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.
• Primary Examiner(s): Lonsberry, Hunter B
• Assistant Examiner(s): Gordon, Mathew Franklin
• Application Number:
  US15/435,660
• Publication Number:
  US 20170238460A1
• Time in Patent Office: 1,425 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 drive subsystem, for maneuvering the chassis, including a set of motor-driven wheels, at least one wheel of the set having a ground-contacting tread with a set of cleats;

a rechargeable battery configured to power the drive subsystem;

a solar panel configured to charge the battery;

an obstacle sensor subsystem on the chassis configured to detect objects including plants having a height above a threshold;

a controller subsystem, configured for autonomous operation of the robot for weeding, responsive to the obstacle sensor subsystem and configured to;

de-energize the drive subsystem until charge of the battery has been restored to a predetermined level by the solar panel,

control the drive subsystem to maneuver the chassis about a defined space, and

upon detection of an obstacle via an output of the obstacle sensor subsystem, control the drive subsystem to maneuver the chassis away from the obstacle, under rules configured to produce a high likelihood of operation of the robot over the entire defined space.

2. The weeding robot of claim 1, further comprising a motorized cutting subsystem, and wherein 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 wherein the controller subsystem is configured to maneuver the chassis about the defined space in a random pattern.

4. The weeding robot of claim 2 in which the motorized cutting subsystem includes a motor proximate front of the chassis with a shaft carrying a string rotated below the chassis.

5. The weeding robot of claim 1, wherein each wheel in the drive subsystem is separately powered by a distinct motor.

6. The weeding robot of claim 1, wherein the obstacle sensor subsystem includes a capacitance proximity sensor.

7. The weeding robot of claim 1, wherein the obstacle sensor subsystem includes right and left forward mounted capacitance sensors.

8. The weeding robot of claim 7, wherein the right and left forward mounted capacitance sensors are capaciflector proximity sensors.

9. The weeding robot of claim 1, wherein the controller subsystem is configured to maneuver the chassis about the defined space in a deterministic pattern.

10. A weeding robot comprising:

a chassis;

a drive subsystem, for maneuvering the chassis;

a rechargeable battery configured to power the drive subsystem;

a solar panel configured to charge the battery;

an obstacle sensor subsystem on the chassis configured to detect objects including plants having a height above a threshold;

a controller subsystem configured for autonomous operation of the robot for weeding, responsive to the obstacle sensor subsystem and configured to;

de-energize the drive subsystem until charge of the battery has been restored to a predetermined level by the solar panel;

control the drive subsystem to maneuver the chassis about a defined space, and

upon detection of an obstacle via an output of the obstacle sensor subsystem, control the drive subsystem to maneuver the chassis away from the obstacle, under rules configured to produce a high likelihood of operation of the robot over the entire defined space.

11. A weeding robot comprising:

a chassis;

a drive subsystem, for maneuvering the chassis;

an obstacle sensor subsystem on the chassis configured to detect objects including plants having a height above a threshold;

a controller subsystem configured for autonomous operation of the robot for weeding, responsive to the obstacle sensor subsystem and configured to;

control the drive subsystem to maneuver the chassis about a defined space, and

upon detection of an obstacle via an output of the obstacle sensor subsystem, control the drive subsystem to maneuver the chassis away from the obstacle, under rules configured to produce a high likelihood of operation of the robot over the entire defined space.