Weeding device

Abstract

To enable efficient weeding even in narrow spaces without damaging crops or a mulching sheet.SOLUTION: A weeding device comprises an end effector 70 provided on a device body 10. The end effector 70 includes an outer blade member 74 that is provided on an effector body 72, is open downward, has a tubular shape, and includes an outer blade 80 at its lower end, and an inner blade member 76 that is supported by the effector body 72 so as to be rotatable around an axis extending in the vertical direction with respect to the outer blade member 74 inside the outer blade member 74, and includes an inner blade 92 that cooperates with the outer blade 80 to shear weeds.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a weeding device. [Background technology]

[0002] A known weeding device for removing weeds that grow in fields, etc., is one that has a fixed blade and a rotating blade at the lower end of a handheld rod body, and cuts and removes weeds by rotating the rotating blade relative to the fixed blade (for example, Patent Document 1).

[0003] Also known is a weeding device that has, at the tip of a robot arm, a gripping section that grips and pulls out weeds or a rotary blade section that cuts weeds (for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Registered Utility Model No. 3186198 [Patent Document 2] Japanese Patent Publication No. 2022-64532 Summary of the Invention [Problem to be solved by the invention]

[0005] In open-field or greenhouse soil cultivation of vegetables and the like, it is necessary to remove weeds in narrow spaces such as between crops or around mulching sheets.

[0006] However, it is difficult for conventional weeding devices to remove weeds efficiently without damaging the crops.

[0007] In view of the above background, an object of the present invention is to provide a weeding device that can weed efficiently without damaging crops even in a narrow space. [Means for solving the problem]

[0008] In order to solve the above problems, one aspect of the present invention is a weeding device (10) comprising a device body and an end effector (70) attached to the device body, the end effector comprising an effector body (72), an outer blade member (74) attached to the effector body, the outer blade member (74) being cylindrical and open downward and having an outer blade (80) at its lower end, and an inner blade member (76) supported by the effector body so as to be rotatable inside the outer blade member about an axis extending vertically relative to the outer blade member, and having an inner blade (92) that shears weeds in cooperation with the outer blade.

[0009] According to this aspect, since the inner blade member is located inside the cylindrical outer blade member, weeding can be performed efficiently without damaging crops even in narrow spaces.

[0010] In the above aspect, the outer blade member may include a protrusion (82) extending downward from the lower end.

[0011] According to this aspect, the protruding piece makes it difficult for the crop to come into contact with the inner blade, thereby protecting the crop.

[0012] In the above aspect, the protruding pieces may be provided at two locations in the circumferential direction of the outer blade member, and a notch (84) that is open downward may be defined between the protruding pieces.

[0013] According to this aspect, weeds can easily enter the inside of the outer blade member, and weeding can be carried out effectively.

[0014] In the above aspect, the weeding device may further include a blade driving device (78) that drives at least one of the outer blade member and the inner blade member to rotate around the axis.

[0015] According to this aspect, weeding can be carried out efficiently.

[0016] In the above aspect, the outer cutter may include portions (80A, 80B) formed in a sawtooth shape.

[0017] According to this aspect, the outer cutter and the inner cutter can effectively shear the weeds.

[0018] In the above aspect, the inner blade member may have a stirring piece (94) that extends to a position below the lower end of the outer blade member.

[0019] According to this embodiment, the soil is cultivated in addition to the weeding.

[0020] In the above aspect, the stirring piece may have a spiral shape.

[0021] According to this embodiment, soil cultivation can be carried out effectively in addition to weeding.

[0022] In the above aspect, the end effector may be configured to be movable in the up and down direction relative to the device body.

[0023] According to this aspect, the weeding target can be accessed from above, and weeding can be carried out effectively in narrow spaces.

[0024] In the above aspect, the end effector may be configured to be movable in a horizontal direction relative to the device body.

[0025] According to this aspect, weeding in a specific area can be performed effectively.

[0026] In the above aspect, the end effector may be configured to be rotatable about the axis relative to the device body.

[0027] According to this aspect, the position of the notch in the rotational direction is changed, and weeding is performed efficiently.

[0028] In the above aspect, the weeding device may have a traveling device (18, 20) for traveling the device body.

[0029] According to this aspect, no human power is required to move the weeding device, and weeding can be carried out efficiently.

[0030] In the above aspect, the device may further include an imaging device (98) provided in the device body for capturing images of the ground, and a control device (100) for identifying a weeding area (G) using image data output by the imaging device, recognizing crops (D) within the weeding area, and controlling the horizontal movement of the end effector relative to the device body to weed around the crops within the weeding area.

[0031] According to this aspect, weeding of the weeding area is automated without damaging the crops. [Effects of the Invention]

[0032] According to the above-described embodiment, even when weeding in a narrow space, weeding can be performed efficiently without damaging the crops. [Brief explanation of the drawings]

[0033] [Figure 1] FIG. 1 is a rear view showing one embodiment of a weeding device according to the present invention; [Figure 2] FIG. 10 is a side view of the end effector of the weeding device according to the embodiment. [Figure 3] FIG. 10 is an enlarged front view of the end effector of the weeding device according to the embodiment; [Figure 4] 4 is a cross-sectional view taken along line IV-IV of FIG. [Figure 5] Block diagram of a control system of the weeding device of the same embodiment. [Figure 6] An explanatory diagram showing an example of cultivation holes opened in a mulching sheet viewed from above [Figure 7] FIG. 10 is an explanatory diagram showing the first half of the weeding operation of the weeding device of the embodiment. [Figure 8] FIG. 10 is an explanatory diagram showing the second half of the weeding operation of the weeding device of the embodiment. [Figure 9] A flowchart showing an operation flow of the weeding device in the automatic mode according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0034] Hereinafter, one embodiment of a weeding device according to the present invention will be described with reference to FIGS.

[0035] As shown in Figures 1 and 2, the weeding device 10 has a device main body 12 (traveling carriage). The device main body 12 has a rectangular, flat mounting plate 14 and front, rear, left, and right legs 16 hanging down from the front, rear, left, and right corners of the mounting plate 14. Travel wheels 18 are attached to the lower end of each leg 16. Each of the front left and right legs 16 is attached with a travel drive motor 20 that individually drives and rotates the corresponding travel wheel 18. The travel wheels 18 and travel drive motor 20 form a travel device that travels the device main body 12, making the device main body 12 self-propelled. A push handle 15 is provided at the rear of the mounting plate 14.

[0036] The distance Lh between the left and right traveling wheels 18, both front and rear, is larger than the width dimension La of a standard ridge A. This allows the weeding device 10 to travel in the longitudinal direction of a single ridge A while straddling it laterally (left and right). The mounting plate 14 is positioned above the ridge A in an approximately horizontal position.

[0037] A linear actuator 30 is provided in approximately the center of the mounting plate 14. The linear actuator 30 may be of any suitable type, such as an electric or hydraulic type, and has a main body 32 fixed to the mounting plate 14 and a vertical mover 34 that is driven in the vertical direction relative to the main body 32. The vertical mover 34 passes through the mounting plate 14 in the vertical direction and includes a lower end that is positioned below the mounting plate 14.

[0038] At the lower end of the vertical moving body 34, a horizontal moving device 38 and a rotational moving device 58 are provided in this order.

[0039] The horizontal movement device 38 is fixed to the lower end of the vertical movement body 34 and has a base body 40 with a left-right guide portion 42 at its bottom, and a left-right movement body 44 that is guided by the left-right guide portion 42 of the base body 40 and can move horizontally in the left-right direction. A feed screw 46 extending in the left-right direction and a left-right drive motor 48 that rotates and drives the feed screw 46 are attached to the base body 40. The left-right movement body 44 includes a feed nut (not shown) into which the feed screw 46 is threaded, and moves horizontally in the left-right direction by rotation of the feed screw 46. The left-right guide portion 42 has a front-rear guide portion 50 at its bottom.

[0040] The horizontal movement device 38 has a front-rear moving body 52 that can move horizontally in the front-rear direction while being guided by a front-rear guide portion 50. A feed screw 54 extending in the front-rear direction and a front-rear drive motor 56 that rotates and drives the feed screw 54 are attached to the left-right moving body 44. The front-rear moving body 52 includes a feed nut (not shown) into which the feed screw 54 is threaded, and moves horizontally in the front-rear direction as the feed screw 54 rotates.

[0041] The drive of the left-right moving body 44 and the front-rear moving body 52 is not limited to the above-mentioned feed screw type, but may be a linear motor, a fluid pressure type, etc. The movement direction of the front-rear moving body 52 is the same as the traveling direction of the device main body 12, so the movement of the front-rear moving body 52 can be omitted by replacing it with the traveling of the device main body 12.

[0042] The rotational movement device 58 (swivel device) has a rotational drive motor 60 such as a servo motor attached to the lower part of the front-rear movement body 52, and a rotating body 62 that is rotationally driven by the rotational drive motor 60.

[0043] An end effector 70 is provided below the rotating body 62. The rotation angle of the end effector 70 about the central axis is thereby variably set by the rotation movement device 58.

[0044] The end effector 70 has an effector body 72 attached to the lower part of the rotating body 62, an outer blade member 74 fixed to the lower part of the effector body 72, and an inner blade member 76 arranged inside the outer blade member 74. The inner blade member 76 is supported by the effector body 72 so as to be rotatable about a vertical axis relative to the outer blade member 74. The effector body 72 is provided with a blade drive device 78 including an electric motor. The blade drive device 78 drives the inner blade member 76 to rotate about the vertical axis relative to the outer blade member 74 in a clockwise direction (rotation direction R (see Figure 4)) when viewed from above.

[0045] As shown in Figures 3 and 4, the outer blade member 74 is cylindrical and opens downward, and has two lower edges that form outer cutters 80 over a central angle range of approximately 140 degrees, each of which is located at two positions that are 180 degrees apart around the central axis.

[0046] As shown in Fig. 3, each outer cutter 80 is formed in a sawtooth shape with a plurality of upright sides 80A spaced at predetermined intervals in the circumferential direction and gently inclined sides 80B extending between adjacent inner blade members 76 alternating in the circumferential direction. The gently inclined sides 80B connect the leading-side upright sides 80A in the direction of rotation R of adjacent inner blade members 76 to the base ends (upper ends) of the lagging-side upright sides 80A. The outer cutter 80 is formed in a sawtooth shape with a plurality of upright sides 80A alternating in the circumferential direction and gently inclined sides 80B extending between the leading-side upright sides 80A in the direction of rotation R of adjacent inner blade members 76.

[0047] 3 and 4, the outer blade member 74 has protrusions 82 that extend downward over a central angular range of about 40 degrees from two positions that are 180 degrees apart from each other around the central axis between the two outer cutters 80. Each protrusion 82 is adjacent to and radially outwardly spaced from a spiral piece 90 (described later) of the inner blade member 76 at a predetermined interval, and forms a shield-like protective wall that prevents the spiral piece 90 from being exposed outward from the end effector 70.

[0048] The upper end (base end) of the side edge 82A on the lagging side in the rotation direction R of each projection 82 is connected to the upper end of the gently inclined side 80B of the adjacent outer cutter 80, as shown in Figure 3. This allows the base end side of the side edge 82A of each projection 82 to form a cutting portion equivalent to the upright side 80A of the outer cutter 80. The upper end (base end) of the side edge 82B on the leading side in the rotation direction R of the inner blade member 76 is connected to the lower end of the gently inclined side 80B of the adjacent outer cutter 80, as shown in Figure 3.

[0049] 3 and 4, the outer blade member 74 has two outer cutters 80 and protrusions 82 that define two notches 84 that are generally rectangular in side view and open downward at two positions that are 180 degrees apart around the central axis. The notches 84 are located between the two protrusions 82 and are positioned at the front and rear when the end effector 70 is at the rotation position (home position) of the initial rotation angle. The home position of the end effector 70 is set by the rotational movement device 58.

[0050] The inner blade member 76 has a shank portion 88 connected to the output rotation shaft 79 (see FIG. 7) of the blade drive unit 78 so as to rotate integrally with it, and two helical pieces 90 extending downward from the shank portion 88. The two helical pieces 90 are arranged at a rotational phase of 180 degrees from each other around the central axis, and each extends spirally over an angular range of approximately 90 degrees from the lower part of the shank portion 88 downward toward the leading side in the rotation direction of the inner blade member 76. The leading edge of each helical piece 90 in the rotation direction R forms an inner blade 92 that cooperates with the outer blade 80 to perform shearing.

[0051] Each spiral piece 90 is integrally formed with a soil agitating piece 94 that extends from the lower end of the spiral piece 90 to a position further below the lower end of the protruding piece 82 of the outer cutter member 74. Each soil agitating piece 94 has a spiral shape that extends downward from the spiral shape of the corresponding spiral piece 90, and is smoothly continuous with the lower end of the corresponding spiral piece 90 without any steps. Each soil agitating piece 94 is located in an area below a horizontal line H (see Figure 3) that is approximately the same height as the lower end of the upright side 80A of the outer cutter 80.

[0052] 2, a video camera 98, which is an imaging device, is attached to the device main body 12. The video camera 98 captures images of the ground on which the device main body 12 is traveling, that is, in this embodiment, a mulching sheet B laid on a ridge A, from above, and outputs image data (video data) to the control device 100, which will be described later.

[0053] In the mulching sheet B, a plurality of circular crop planting holes (hereinafter referred to as mulch holes C) as shown in FIG. 6 are opened at predetermined intervals along the longitudinal direction of the ridges A.

[0054] 1 and 2, the device body 12 is equipped with a control device 100, an operation panel 110, and a monitor 112 such as a liquid crystal display with a touch panel. The operation panel 110 is provided with a mode change switch 114, a travel speed setting lever 115, a cross-shaped direction button 116, a lift switch 118, a blade rotation speed setting dial 120, a start button 122, etc.

[0055] The mode selector switch 114 switches between an automatic mode and a manual mode for the operation mode of the weeding device 10. In the automatic mode, the travel of the weeding device 10 and a series of operations of the end effector 70 for weeding are performed automatically under the control of the control device 100.

[0056] The control device 100 is an electronically controlled device, and includes a microcomputer 102, a knowledge database 104 having image information about plants, and a drive circuit unit 106.

[0057] The microcomputer 102 performs a drawing process to display on the monitor 112 an image of the mulching sheet B including the mulching holes C photographed from above using image data from the video camera 98 .

[0058] As a result, the monitor 112 displays an image of the mulching sheet B including the mulching holes C taken from above.

[0059] Next, the operation in the automatic mode will be described. In the automatic mode, the travel speed setting lever 115, direction buttons 116, lift switch 118 and blade rotation speed setting dial 120 on the operation panel 110 are in a rest state.

[0060] In parallel with the above-mentioned drawing process, the microcomputer 102 performs an automatic weeding process in which, based on the image data from the video camera 98 and the image information on plants from the knowledge database 104, it outputs a command to the drive circuit unit 106 to remove weeds E1 to E4 (see Figure 6) growing in the multi-hole C.

[0061] The microcomputer 102 starts the automatic weeding process when the multi-hole C is detected from the image data of the video camera 98 and the device body 12 is stopped at a position corresponding to the multi-hole C. The automatic weeding process may also be started when the device body 12 has moved to a position corresponding to the multi-hole C and is moving forward at a low speed.

[0062] The automatic weeding process executed by the microcomputer 102 first extracts image data of plants growing in the mulch hole C from image data from the video camera 98, as shown in Figure 6. Then, by referring to image information related to plants stored in the knowledge database 104, the microcomputer 102 recognizes crop D from the extracted image data of the plants and recognizes other plants as weeds E1 to E4. In other words, the weeding process distinguishes between crop D and weeds E1 to E4 in the mulch hole C through image recognition. Crops D include vegetables, ornamental flowers, etc.

[0063] The automatic weeding process then sets a weeding area G in the mulch hole C based on image data from the video camera 98. The weeding area G is the area marked with diagonal lines in Figure 6, and is set inside the outer edge of the mulch hole C and around the outer periphery of the planting area d of the crop D so that weeding can be performed without damaging the crop D. The planting area d is set as a circle with a diameter that surrounds the entire crop D, centered approximately at the center of the crop D in a plan view. Note that because the mulching sheet B can stretch slightly, the weeding area G may be set to an area slightly larger than the outer edge of the mulch hole C.

[0064] Next, in the automatic weeding process, in order to remove weeds E1 to E4 growing in the weeding area G, a command to drive the end effector 70 in a rotational direction, a left-right direction, and a front-back direction is output to the drive circuit unit 106 so that the end effector 70 scans the weeding area G. Thereafter, a command to lower the end effector 70 and a command to rotate the inner blade member 76 are output to the drive circuit unit 106.

[0065] In the automatic weeding process, when the end effector 70 completes scanning of the weeding area G, a command to stop the rotation of the inner blade member 76 and a command to raise the end effector 70 are output to the drive circuit unit 106, thereby completing the weeding routine for one multi-hole C.

[0066] Based on commands from the microcomputer 102, the drive circuit unit 106 controls the power supplied to each of the travel drive motor 20, the linear actuator 30, the left-right drive motor 48, the front-rear drive motor 56, the rotation drive motor 60, and the blade drive device 78.

[0067] As a result, the travel drive motor 20, linear actuator 30, left-right drive motor 48, front-rear drive motor 56, rotation drive motor 60, and blade drive device 78 are each driven based on commands from the microcomputer 102. This driving causes the end effector 70 to move in the front-rear and left-right directions over the entire weeding area G, avoiding the planting region d.

[0068] By this movement, all of the weeds E1 to E4 in the weeding area G are sheared one after another by the outer blade 80 and the inner blade 92.

[0069] When the end effector 70 moves for the above-described weeding, the outer blade member 74 with the protrusion 82 acts as a protective wall that prevents the crops D in the planting area d from coming into contact with the inner blade member 76. This prevents the inner blades 92 of the inner blade member 76 from coming into contact with the crops D, even when weeding in a narrow space or when the crops D are swaying in the wind, allowing for efficient weeding without damaging the crops D. Because the movement of the end effector 70 is limited to the weeding area G within the mulch hole C, the mulching sheet B will not be damaged by the end effector 70.

[0070] Next, the shearing operation of the weeds E1 by the outer cutter 80 and the inner cutter 92 will be described in detail with reference to FIGS.

[0071] When the end effector 70 moves forward and backward and left and right and is positioned close to the front of the weed E1 as shown in Figure 7(A), the forward and left and right movements of the end effector 70 stop. The linear actuator 30 then moves the end effector 70 downward. This downward movement continues until the outer blade 80 of the outer blade member 74 comes into contact with the ground, as shown in Figure 7(B). This downward movement causes the protrusions 82 and soil agitating pieces 94 to penetrate into the soil.

[0072] After this, the inner blade member 76 rotates, and the end effector 70 moves forward while the inner blade member 76 rotates. As a result, the soil stirring pieces 94 rotating in the soil till the soil, and the roots of the weeds E1 enter the outer blade member 74 from the lower edge of the outer blade member 74, as shown in Figure 8(C).

[0073] When the root portion of the weed E1 enters the outer blade member 74, as shown in Figure 8(D), the weed E1 is sheared on the root side rather than the growth point near the base by the outer blade 80 and the rotating inner blade 92. This results in sustained weeding of the weed E1 while suppressing regrowth of the weed E1.

[0074] Because the outer blade 80 has an upright edge 80A on the leading side of the rotation direction R of the inner blade 92, even if the weed E1 has low rigidity and is prone to falling over, as shown in Figure 3, the stem of the weed E1 is captured by the upright edge 80A, and the outer blade 80 and inner blade 92 can shear it well.

[0075] The above weeding operation is performed in the same manner when weeding the weeds E2 to E4, and weeding of the weeds E2 to E4 is carried out.

[0076] By performing weeding in this manner, even in narrow spaces, weeding can be performed efficiently without damaging the crops.

[0077] The automatic weeding process may involve the end effector 70 moving so as to approach each of the weeds E1 to E4 in the weeding area G individually, and weeding each of the weeds E1 to E4.

[0078] 6, when the center of the outer blade member 74 is at position J and weeding is to be performed on weed E1, the rotary movement device 58 rotates the end effector 70 a predetermined angle about the central axis so that the notch 84 of the outer blade member 74 faces the weed E1. After this, the horizontal movement device 38 simultaneously moves the end effector 70 along path F1 toward the weed E1 on two axes, the front-to-back and the left-to-right.

[0079] The rotational movement device 58 that variably sets the orientation of the notch 84 of the end effector 70 is not essential. The notch 84 may be fixedly disposed in a position that is forward or backward relative to the central axis of the end effector 70, as shown in Figure 4. In this case, for example, if the center of the outer blade member 74 is at position J and weeding is to be performed on weed E1, the end effector 70 may be moved left and right by the horizontal movement device 38 and then moved forward and backward, as shown by path F2, to approach the weed E1 from the forward and backward directions.

[0080] Next, the control flow of the weeding device 10 in the automatic mode will be described with reference to the flowchart shown in FIG.

[0081] When the start button 122 is operated, the weeding device 10 travels straight along one ridge A (step S10). While traveling straight, detection of a mulch hole C is performed using image data from the video camera 98 (step S11). When a mulch hole C is detected, the weeding device 10 stops traveling straight.

[0082] Next, the root positions of the crops D in the mulch holes C and the edges of the mulch holes C are recognized (step S13), and a weeding area G is created (step S14).

[0083] Next, the weeds E1 to E4 in the weeding area G are weeded by the automatic weeding process described above (step S15).

[0084] When the automatic weeding process for one multi-hole C is completed, the weeding device 10 resumes traveling straight ahead, and the end of the ridge A is detected using image data from the video camera 98 (step S16). If the end of the ridge A is not detected, the process returns to step S10, and automatic weeding for each multi-hole C in the ridge A is repeated.

[0085] When a mulch hole C is detected, the weeding device 10 moves to the start of the adjacent ridge A by individually controlling the speed of the left and right front traveling wheels 18 (step S17). Then, the process returns to step S10, and automatic weeding of each mulch hole C of the next ridge A is repeated.

[0086] In the manual mode, the travel speed setting lever 115, direction button 116, lift switch 118, and blade rotation speed setting dial 120 on the operation panel 110 are in an operational state. The travel speed setting lever 115 manually sets the travel speed of the weeding device 10. The direction button 116 manually sets the forward / backward and left / right movement of the end effector 70 relative to the device body 12. The lift switch 118 manually sets the elevation of the end effector 70 relative to the device body 12. The blade rotation speed setting dial 120 manually sets the rotation speed of the inner blade member 76.

[0087] This allows the operator to weed by manually operating the weeding device 10 while watching the monitor 112. In the manual mode, the weeding device 10 may be driven manually using the push handle 15. The weeding device 10 can also be manually operated remotely using wireless communication.

[0088] The present invention has been described above in terms of its preferred embodiments, but as can be easily understood by those skilled in the art, the present invention is not limited to such embodiments and can be modified as appropriate within the scope of the invention.

[0089] For example, the number and shapes of the outer blades 80, inner blades 92, protrusions 82, etc. are not limited to those in the illustrated embodiment. The soil agitating pieces 94 do not necessarily have to be spiral-shaped, and may have any shape that provides a tilling effect, such as a linearly inclined shape.

[0090] The blade drive device 78 may be configured to rotate both the outer blade 80 and the inner blade 92 in opposite directions. In this case, the relative rotation speed between the outer blade 80 and the inner blade 92 increases, allowing the weeds E1 to E4 to be effectively sheared at high speed, improving weeding efficiency. In this case, the rotation movement device 58 including the rotation drive motor 60 and the rotor 62 becomes unnecessary.

[0091] The four legs 16, front, rear, left and right, may be extendable and retractable, and the leg lengths may be individually increased or decreased. In this case, by adjusting the leg lengths of the left and right legs 16, the mounting plate 14 can be kept approximately horizontal even if there is a difference in height between the left and right sides of the ridge A. This allows the end effector 70 to properly remove weeds regardless of the difference in height between the left and right sides of the ridge A.

[0092] The end effector 70 may be provided on a robot arm or the like instead of a traveling carriage. Two or more end effectors 70 may be attached to one robot. For example, if the robot has left and right arms, the end effectors 70 attached to each of the left and right arms can simultaneously weed adjacent furrows A on the left and right.

[0093] The up-down, forward-backward, left-right, and rotational movements of the end effector 70 attached to the robot arm may be achieved by three-dimensional movements of the robot arm.

[0094] The weeding device 10 may be used not only for weeding the mulch holes C but also for weeding fields, gardens, etc. where cultivated plants such as vegetables and horticultural plants such as flowers are planted.

[0095] Furthermore, not all of the components shown in the above embodiments are necessarily essential, and they can be selected as appropriate without departing from the spirit of the present invention. [Explanation of symbols]

[0096] 10: Weeding device 20: Travel drive motor 30: Linear actuator 38: Horizontal movement device 58: Rotational movement device 70: End effector 72: Effector body 74: Outer blade member 76: Inner blade member 78: Blade drive device 80: Outer blade 80A: Standing edge 80B: Gentle hypotenuse 82: Projection piece 84: Notch 90: Spiral piece 92: Inner blade 94: Soil stirring piece 98: Video camera (imaging device) 100: Control device D: Crop G: Weeding area

Claims

1. A weeding device comprising: A device body, an end effector provided on the device body, The end effector The effector body, an outer blade member provided on the effector body, the outer blade member being cylindrical and open downward, and having an outer blade at its lower end; a weeding device having an inner blade member supported by the effector body so as to be rotatable around an axis extending vertically relative to the outer blade member inside the outer blade member, and having an inner blade that cooperates with the outer blade to shear weeds.

2. The weeding device according to claim 1, wherein the outer blade member includes a protrusion extending downward from a lower end thereof.

3. The weeding device according to claim 2, wherein the protrusions are provided at two positions in the circumferential direction of the outer blade member, and a notch that is open downward is defined between the protrusions.

4. The weeding device according to claim 1 or 2, further comprising a blade driving device that drives at least one of the outer blade member and the inner blade member to rotate about the axis.

5. The weeding device according to claim 1 or 2, wherein the outer blade includes a portion formed in a sawtooth shape.

6. The weeding device according to claim 1 or 2, wherein the inner blade member has an agitating piece extending to a position lower than the lower end of the outer blade member.

7. The weeding device according to claim 6, wherein the agitating piece has a spiral shape.

8. The weeding device according to claim 1 or 2, wherein the end effector is configured to be movable in the up and down direction relative to the device body.

9. The weeding device according to claim 1 or 2, wherein the end effector is configured to be movable horizontally relative to the device body.

10. The weeding device according to claim 9, wherein the end effector is configured to be rotatable about the axis relative to the device body.

11. 3. The weeding device according to claim 1, further comprising a traveling device for traveling the device body.

12. an imaging device provided in the device body for imaging the ground; 10. The weeding device according to claim 9, further comprising a control device that identifies a weeding area using image data output by the imaging device, recognizes crops in the weeding area, and controls horizontal movement of the end effector relative to the device body to weed around the crops in the weeding area.

Images