AUTOMATIC WEED CONTROL

Abstract

An apparatus for automatic weed control of gravel areas is shown. The apparatus includes a mobile robot, and a tool unit. The tool unit includes a mounting bracket, a tool frame sled, and a pair of foldable and/or flexible connectors spanning between the mounting bracket and the tool frame sled.

Claims

1.-21. (canceled)

22. An apparatus (100) for automatic weed control and/or leveling of gravel areas, said apparatus comprising: a mobile robot (200); and a tool unit (300); wherein said tool unit (300) comprises: i) a mounting bracket (310); ii) a tool frame sled (320) with a front end (321) and a rear end (322); and iii) a pair of flexible connectors (330,340) spanning between said mounting bracket (310) and said tool frame sled (320); wherein said mounting bracket (310) is adapted for releasably fastening of said tool unit (300) to said mobile robot (200); characterized in that each of said connectors (330,340) are fastened to each side of the rear end (322) of said tool frame sled (320).

23. The apparatus (100) according to claim 22, wherein said mounting bracket (310) is adapted for being height adjustable relative to said mobile robot (200).

24. The apparatus (100) according to claim 22, wherein said tool frame sled (320) is adapted for tool exchange.

25. The apparatus (100) according to claim 22, wherein said tool frame sled (320) comprises: a front end configured as a first elongate member (323) spanning from one side of the front end (321) to the other; and a rear end configured as a second elongate member (324) spanning from one side of the rear end (322) to the other; wherein a space is formed between said front end (321) and said rear end (322).

26. The apparatus (100) according to claim 22, wherein said tool frame sled (320) comprises: a front end configured as a first elongate member (323) spanning from one side of the front end (321) to the other; and a rear end configured as a second elongate member (324) spanning from one side of the rear end (322) to the other; wherein a space is formed between said front end (321) and said rear end (322); wherein a pair of tool mounting units (327, 328) are fastened to each side of said first (323) and second (324) elongate members; wherein said pair of tool mounting units (327, 328) are adapted for releasably fastening of a tool (350) adapted for raking a surface.

27. The apparatus (100) according to claim 22, wherein said tool frame sled (320) comprises: a front end configured as a first elongate member (323) spanning from one side of the front end (321) to the other; and a rear end configured as a second elongate member (324) spanning from one side of the rear end (322) to the other; wherein a space is formed between said front end (321) and said rear end (322); wherein said first (323) and second (324) elongate members are adapted for raking a surface.

28. The apparatus (100) according to claim 22, wherein said mobile robot (200) comprises a traction drive system and a boundary coverage system including a vehicle control unit commanding said traction drive system to drive said mobile robot (200) relative to a boundary wire.

29. The apparatus (100) according to claim 22, wherein the pair of flexible connectors (330,340) span between the mounting bracket (310) and the tool frame sled (320) two times.

30. The apparatus (100) according to claim 22, wherein the pair of flexible connectors (330,340) are each made from chain, rope, or wire, and wherein the tool mounting units (327, 328) each comprises a guide channel (329) adapted for receiving its own chain, rope, or wire.

31. The apparatus (100) according to claim 22, wherein the pair of flexible connectors (330,340) are each made from chain, rope, or wire, and wherein the tool mounting units (327, 328) each comprises a guide channel (329) adapted for receiving its own chain, rope, or wire; wherein the guide channel (329) is formed in the front end (321) of the tool mounting unit (327, 328), wherein one part of each chain, rope, or wire is fastened to the rear end (322) of the tool mounting units (327, 328), and wherein an end of each chain, rope, or wire is fastened to the mounting bracket (310).

32. The apparatus (100) according to claim 22, wherein the pair of flexible connectors (330,340) are each made from chain, rope, or wire, and wherein the tool mounting units (327, 328) each comprises a guide channel (329) adapted for receiving its own chain, rope, or wire; wherein the guide channel (329) is formed in the front end (321) of the tool mounting unit (327, 328), wherein one part of each chain, rope, or wire is fastened to the rear end (322) of the tool mounting units (327, 328), and wherein an end of each chain, rope, or wire is fastened to the mounting bracket (310); and wherein the opposite end of each chain, rope, or wire is also fastened to the mounting bracket (310).

33. The apparatus (100) according to claim 22, wherein the pair of flexible connectors (330,340) are each made from chain, rope, or wire, and wherein the tool mounting units (327, 328) each comprises a guide channel (329) adapted for receiving its own chain, rope, or wire; wherein the guide channel (329) is formed in the front end (321) of the tool mounting unit (327, 328), wherein one part of each chain, rope, or wire is fastened to the rear end (322) of the tool mounting units (327, 328), and wherein an end of each chain, rope, or wire is fastened to the mounting bracket (310); wherein the opposite end of each chain, rope, or wire is also fastened to the mounting bracket (310); and wherein the mounting bracket (310) comprises a pair of protruding rods or plates (312, 314), and wherein the opposite end of each chain, rope, or wire is fastened to its own protruding rod or plate (312, 314).

34. A tool unit (300) adapted for mounting to a mobile robot (200), said tool unit (300) comprising: i) a mounting bracket (310); ii) a tool frame sled (320) with a front end (321) and a rear end (322); and iii) a pair of flexible connectors (330,340) spanning between said mounting bracket (310) and said tool frame sled (320); wherein said mounting bracket (310) is adapted for releasably fastening of said tool unit (300) to said mobile robot (200); characterized in that each of said connectors (330,340) are fastened to each side of the rear end (322) of said tool frame sled (320).

35. The tool unit (300) according to claim 34, wherein said tool frame sled (310) comprises: a front end configured as a first elongate member (323) spanning from one side of the front end (321) to the other; and a rear end configured as a second elongate member (324) spanning from one side of the rear end (322) to the other; wherein a space is formed between said front end (321) and said rear end (322).

36. The tool unit (300) according to claim 34, wherein said tool frame sled (310) comprises: a front end configured as a first elongate member (323) spanning from one side of the front end (321) to the other; and a rear end configured as a second elongate member (324) spanning from one side of the rear end (322) to the other; wherein a space is formed between said front end (321) and said rear end (322); and wherein a pair of tool mounting units (327, 328) are fastened to each side of said first (323) and second (324) elongate members; wherein said pair of tool mounting units (327, 328) are adapted for releasably fastening of a tool (350) adapted for raking a surface.

37. The tool unit (300) according to claim 34, wherein said tool frame sled (310) comprises: a front end configured as a first elongate member (323) spanning from one side of the front end (321) to the other; and a rear end configured as a second elongate member (324) spanning from one side of the rear end (322) to the other; wherein a space is formed between said front end (321) and said rear end (322); and wherein said first (323) and second (324) elongate members are adapted for raking a surface.

38. The tool unit (300) according to claim 34, wherein the pair of foldable and/or flexible connectors (330,340) span between the mounting bracket (310) and the tool frame sled (320) two times.

39. The tool unit (300) according to claim 34, wherein the pair of foldable and/or flexible connectors (330,340) are each made from chain, rope, or wire, and wherein the tool mounting units (327, 328) each comprises a guide channel (329) adapted for receiving its own chain, rope, or wire.

40. The tool unit (300) according to claim 34, wherein the pair of foldable and/or flexible connectors (330,340) are each made from chain, rope, or wire, and wherein the tool mounting units (327, 328) each comprises a guide channel (329) adapted for receiving its own chain, rope, or wire; wherein the guide channel (329) is formed in the front end (321) of the tool mounting unit (327, 328), wherein one part of each chain, rope, or wire is fastened to the rear end (322) of the tool mounting units (327, 328), and wherein an end of each chain, rope, or wire is fastened to the mounting bracket (310).

41. The tool unit (300) according to claim 34, wherein the pair of foldable and/or flexible connectors (330,340) are each made from chain, rope, or wire, and wherein the tool mounting units (327, 328) each comprises a guide channel (329) adapted for receiving its own chain, rope, or wire; wherein the guide channel (329) is formed in the front end (321) of the tool mounting unit (327, 328), wherein one part of each chain, rope, or wire is fastened to the rear end (322) of the tool mounting units (327, 328), wherein an end of each chain, rope, or wire is fastened to the mounting bracket (310); and wherein the opposite end of each chain, rope, or wire is also fastened to the mounting bracket (310).

42. The tool unit (300) according to claim 34, wherein the pair of foldable and/or flexible connectors (330,340) are each made from chain, rope, or wire, and wherein the tool mounting units (327, 328) each comprises a guide channel (329) adapted for receiving its own chain, rope, or wire; wherein the guide channel (329) is formed in the front end (321) of the tool mounting unit (327, 328), wherein one part of each chain, rope, or wire is fastened to the rear end (322) of the tool mounting units (327, 328), wherein an end of each chain, rope, or wire is fastened to the mounting bracket (310); wherein the opposite end of each chain, rope, or wire is also fastened to the mounting bracket (310); and wherein the mounting bracket (310) comprises a pair of protruding rods or plates (312, 314), and wherein the opposite end of each chain, rope, or wire is fastened to its own protruding rod or plate (312, 314).

Description

BRIEF DESCRIPTION OF THE FIGURES

[0040] FIG. 1 shows an apparatus according to various embodiments of the present invention, where different tools are displayed.

[0041] FIG. 2 shows a closeup view of a tool unit according to various embodiments of the present invention.

[0042] FIG. 3 shows an apparatus according to various embodiments of the present invention, where the mobile robot is shown changing direction, while the tool unit retains its position.

[0043] FIGS. 4-10 show apparatuses according to various embodiments of the present invention with different tools mounted in the tool frame sled. In particular:

[0044] FIG. 4 shows a tool with a single elongate member.

[0045] FIG. 5 shows a tool with two elongate members.

[0046] FIG. 6 shows a tool with a single elongate member with twenty vertical plates extending below the elongate member.

[0047] FIG. 7 shows a tool with two elongate members, each with thirteen vertical plates extending below the elongate member.

[0048] FIG. 8 is a close-up view of FIG. 7.

[0049] FIG. 9 shows a tool with a single elongate member.

[0050] FIG. 10 is a close-up view of FIG. 9.

DETAILED DESCRIPTION OF THE INVENTION

[0051] The following description is to be seen as a non-limiting example of an apparatus according to various embodiments of the present invention.

[0052] FIG. 1 shows an apparatus according to various embodiments of the present invention, where different tools 350A-D are displayed separately. The apparatus 100 comprises a mobile robot 200, and a tool unit 300. The tool unit 300 comprises a mounting bracket 310, a tool frame sled 320, and a pair of foldable and/or flexible connectors 330,340 (embodied as a chain) spanning between the mounting bracket 310 and the tool frame sled 320. FIG. 2 shows a closeup view of the tool unit 300. Here it can be seen that the tool frame sled 320 has a front end 321 and a rear end 322, and that each of said connectors 330,340 are fastened to each side of the rear end 322 of said tool frame sled 320. The front end 321 is configured as a first elongate member 323 spanning from one side of the front end to the other, and the rear end 322 is configured as a second elongate member 324 spanning from one side of the rear end to the other. A space is formed between the front end 321 and the rear end 322 by a spacer 325, 326 attached at each side. The space is adapted for receiving a tool 350A-D that is releasably fastened to the tool unit by a pair of tool mounting units 327, 328 fastened to each side of said first 323 and second 324 elongate members. The tool frame sled 320 comprises a guide channel 329 adapted for receiving a connector 330,340 (here embodied as a chain). The guide channel 329 is formed in the front end (the end facing the mobile robot) of the tool mounting units 327,328, while one end of the chains 330,340 are fastened to the rear end of the tool mounting units 327, 328. The other end of the chain is fastened to the mounting bracket 310. The mounting bracket 310 is adapted for being height adjustable relative to the mobile robot 200.

[0053] FIG. 3 shows an apparatus 100 where the mobile robot 200 is shown changing direction, while the tool frame sled 320 retains its position. That operation is possible due to the chains' 330,340 flexibility.

[0054] FIGS. 4-8 show apparatuses with different tools mounted in the tool frame sled. FIG. 4 shows a tool 350A with a single elongate member. FIG. 5 shows a tool 350B with two elongate members. FIG. 6 shows a tool 350C with a single elongate member with twenty vertical plates extending below the elongate member. The vertical plates curve upwards (a semi-circular shape) relative to the ground, thereby allowing the tool frame sled 320 to bounce off obstacles. FIG. 7 shows a tool 350D with two elongate members, each with thirteen vertical plates extending below the elongate member. The vertical plates on the first elongate member are mounted at a first oblique angle relative to said first longitudinal axis of the elongate member, while the vertical plates on the second neighboring elongate member are mounted at a second oblique angle relative to said second longitudinal axis of the elongate member. The first and second oblique angles may be equal, as shown, but where one has a positive angle of rotation, while the other has a negative angle of rotation. This configuration secures that the tool frame sled moves straight. FIG. 8 is a close-up view of FIG. 7. FIG. 9 shows a tool 350A with a single elongate member. The tool frame sled comprises a guide channel 329 adapted for receiving a connector 330,340 (here embodied as a rope). The guide channel 329 is formed in the front end (the end facing the mobile robot) of the tool mounting units 327,328. One end of the ropes is fastened to the mounting bracket 310, one part of the ropes 330,340 are fastened to the rear end of the tool mounting units 327, 328, and the other end of the ropes is also fastened to the mounting bracket 310. This embodiment ensures better maneuverability and control of the tool unit 300. The mounting bracket 310 is shown comprising a pair of protruding rods or plates 312, 314 to ensure an even better maneuverability and control of the tool unit 300. One of the ends of each rope is fastened to its own protruding rod or plate 312, 314. FIG. 10 is a close-up view of FIG. 9.

REFERENCES

[0055] 100 Apparatus for automatic weed control and leveling of gravel areas [0056] 200 Mobile robot [0057] 300 Tool unit [0058] 310 Mounting bracket [0059] 312 Protruding rod or plate [0060] 314 Protruding rod or plate [0061] 320 Tool frame sled [0062] 321 Front end [0063] 322 Rear end [0064] 323 First elongate member [0065] 324 Second elongate member [0066] 325 Spacer [0067] 326 Spacer [0068] 327 Tool mounting unit [0069] 328 Tool mounting unit [0070] 329 Guide channel [0071] 330 Connector [0072] 340 Connector [0073] 350 Tools