Robotic weed removal module and systems

Abstract

A robotic module of a weed removal system is disclosed, with a mounting interface to support the robotic module on a frame. An end effector is displaceable between an elevated and a down position, with an actuation unit engaged to the end effector to cause such displacement. A detection unit is included, for capturing images of a ground surface and monitoring a position of the system relative to a detection area moving relative to the system. A controller includes a processing unit, and a non-transitory computer- readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable for receiving the images and position data from the detection unit, processing the images to detect the presence of weeds in the detection area, associating position data received from the detection unit to weeds in the detection area, and driving a displacement of the end effector to reach a weed.

Description

ROBOTIC WEED REMOVAL MODULE AND SYSTEMSCROSS-REFERENCE TO RELATED APPLICATION

[0001] The present application claims the priority of United Stated Patent Application Serial No. 63 / 510,671 , filed on June 28, 2023, the entire contents of which are incorporated herein by reference.TECHNICAL FIELD

[0002] This application generally relates to agricultural equipment, in particular, to robotic weed removal systems and methods.BACKGROUND

[0003] Harvesting heavily rely on human workforce during crop seasons. Use of chemicals in fields to protect the crops and reduce weed growth is highly regulated. The environmental footprint is increasingly scrutinized by authorities and considered by the public as one of the overriding factors in industrial farming. Organic production may be typically more demanding for harvesters, since it requires non-chemical alternatives to limit weed growth and proliferation and / or more manual work to get rid of them. Limited efficiency of non-chemical alternatives and / or insufficient human workforce to more environmentally control weed growth and proliferation may affect the crop potential.SUMMARY

[0004] In accordance with a first aspect, there is provided a robotic module of a weed removal system, comprising: a mounting interface adapted to support the robotic module on a frame of the weed removal system; an end effector displaceable between an elevated position and a down position; an actuation unit drivingly engaged to the end effector to cause a displacement of the end effector between the elevated position and the down position; a detection unit for capturing images of a ground surface and for monitoring a position of the weed removal system relative to a detection area moving relative to the weed removal system; a controller including a processing unit, and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for receiving the images and position data from the detection unit, processing the images to detect the presence of one or more weeds in the detection area, associating one or more of the position data received from the detection unit to the one or more weeds in the detection area, and driving a displacement of the end effector to the down position so as to reach the one or more weeds.

[0005] Further in accordance with the first aspect, for example, the detection unit includes an imaging device and a position sensor, the position sensor adapted to measure a field depth in the detection area.

[0006] Further in accordance with the above aspects, for example, the position sensor includes a laser imaging detection and ranging module.

[0007] Further in accordance with the above aspects, for example, the imaging device includes a camera.

[0008] Further in accordance with the above aspects, for example, the detection unit includes a load sensor to sense a load applied onto the end effector.

[0009] Further in accordance with the above aspects, for example, the load sensor is embedded in a drive of the actuation unit, the load sensor sensing a torque, a torque variation, or a voltage / current level corresponding to the torque or the torque variation.

[0010] Further in accordance with the above aspects, for example, the computer-readable program instructions are executable by the processing unit for receiving a signal indicative of a contact with the end effector within the detection area.

[0011] Further in accordance with the above aspects, for example, driving the displacement of the end effector includes aligning the end effector in a common plane with one of the one or more weeds detected.

[0012] Further in accordance with the above aspects, for example, the end effector includes a gripper configured to grip a weed, the gripper actuatable between a release position and a gripping position, the gripper including a plurality of gripping members, at least one gripping member of the plurality of gripping members is actuatable to cause a displacement of the at least one gripping member towards the gripping position whereby a gripping force is exerted between the plurality of gripping members.

[0013] Further in accordance with the above aspects, for example, the end effector includes a needle to penetrate a ground surface of the detection area when the end effector gains the down position.

[0014] Further in accordance with the above aspects, for example, the actuation unit includes a plurality of actuators, each actuator causing a linear displacement of the end effector in respective planes.

[0015] Further in accordance with the above aspects, for example, one of the respective planes is a plane having a travel motion of the weed removal system normal thereto.

[0016] Further in accordance with the above aspects, for example, the plurality of actuators includes electric motors.

[0017] Further in accordance with the above aspects, for example, comprising a guide rail, and a holder mounted to the guide rail, the holder operatively engaged to the actuation unit for displacing the holder along the guide rail, the guide rail guiding a linear displacement of the holder.

[0018] Further in accordance with the above aspects, for example, the end effector includes a rod connected to the holder, the rod is displaceable in translation relative to the holder, the rod causing a linear displacement of the end effector from the elevated position to the down position.

[0019] Further in accordance with the above aspects, for example, the holder includes guiding elements engaged to the rod to guide the rod as the rod is displaced relative to the holder.

[0020] In accordance with a second aspect, there is provided a weed removal system for detecting and removing weeds in a detection area in relative displacement with the weed removal system, comprising: a frame supported above a ground surface to define a clearance between the frame and the ground surface, the frame displaceable along the ground surface above the detection area; and at least one robotic module as in any one of the above aspects, the at least one robotic module mounted to the frame.

[0021] Further in accordance with the second aspect, for example, the system further comprises a power management subsystem for controlling power supplied to the at least one robotic module, the power management subsystem includes an energy storage.

[0022] Further in accordance with the above aspects, for example, the power management subsystem includes a power generator to generate power for storing energy and / or supply power to the at least one robotic module.

[0023] Further in accordance with the above aspects, for example, the power generator includes at least one of a hydraulic alternator for interfacing with a hydraulic system of a prime mover and a solar panel.

[0024] In accordance with a third aspect, there is provided a method for operating a weed removal system, the method comprising: capturing images of a ground surface in a detection area as the weed removal system moves relative to the ground surface; mapping positions on the ground surface in the detection area as the weed removal system moves relative to the detection area; pairing an image feed including the captured images with position data from the mapping; image processing of the image feed to detect one or more weeds; associating the position data with the one or more detected weeds; and displacing an end effector from an elevated position to a down position in the detection area according to at least one of the position data associated with the one or more detected weeds.

[0025] Further in accordance with the third aspect, for example, the weed removal system hovers above the detection area.

[0026] Further in accordance with the above aspects, for example, displacing the end effector includes aligning the end effector in a common plane relative to at least one of the positions mapped.

[0027] Further in accordance with the above aspects, for example, aligning the end effector in the common plane includes displacing the end effector in a direction transverse relative to a motion direction of the weed removal system.

[0028] Further in accordance with the above aspects, for example, the method further comprises gripping one of the one or more weeds detected while in the down position.

[0029] Further in accordance with the above aspects, for example, the gripping includes pulling upwardly the targeted one of the one or more weeds detected.

[0030] Further in accordance with the above aspects, for example, the method further comprises penetrating the ground surface with the end effector to damage one of the one or more weeds detected and / or loosen soil at a base of that weed.

[0031] Further in accordance with the above aspects, for example, the method further comprises detecting a load induced at the end effector by the ground surface upon contact on the end effector in the down position.

[0032] Further in accordance with the above aspects, for example, displacing the end effector includes actuating a plurality of actuators cooperating to provide a motion of the end effector in respective planes to reach the down position.

[0033] Further in accordance with the above aspects, for example, the displacing of the end effector is made according to a first displacement sequence, the method further comprising displacing the end effector in a second displacement sequence including a subsequent displacement trajectory of the end effector between the elevated position and the down position in the detection area according to at least another one of the position data associated with the one or more weed detected.

[0034] Further in accordance with the above aspects, for example, the method further comprises supplying power to the weed removal system from an energy storage.BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Fig. 1 is a schematic representation of a weed removal system, according to the present disclosure.

[0036] Fig. 2 is a perspective view of a robotic module of the weed removal system of Fig. 1 , according to an embodiment.

[0037] Fig. 3 is another perspective view of the robotic module of Fig. 2.

[0038] Fig. 4A is a block diagram of a controller of a robotic module of the weed removal system of Fig. 1 , according to an embodiment.

[0039] Fig. 4B is a block diagram of a power management subsystem of the weed removal system of Fig. 1 , according to an embodiment.

[0040] Fig. 4C is a block diagram of a power management subsystem of the weed removal system of Fig. 1 , according to another embodiment.

[0041] Fig. 5 is the weed removal system of Fig. 1 , shown in an exemplary configuration.

[0042] Fig. 6 is a perspective view of the weed removal system of Fig. 1 , according to a variant.

[0043] Fig. 7A is a perspective view of the robotic module of Figs. 2-3 with an end effector according to a variant.

[0044] Fig. 7B is a partially exploded perspective view of the robotic module of Figs. 2-3 with the end effector of Fig. 7A.

[0045] Fig. 8A is a perspective view of a robotic module of the weed removal system of Fig. 1 , according to another embodiment.

[0046] Fig. 8B is a side elevation view of the robotic module of Fig. 8A.

[0047] Fig. 8C is a rear elevation view of the robotic module of Fig. 8A.

[0048] Fig. 9A is a perspective view of a frame of the weed removal system of Fig. 1 , according to a variant.

[0049] Fig. 9B is another perspective view of the frame of Fig. 9A.

[0050] Fig. 9C is another perspective view of the frame of Figs. 9A-9B in one configuration.

[0051] Fig. 10A is a perspective view ofa frame of the weed removal system of Fig. 1 , according to another variant.

[0052] Fig. 10B is a perspective partial view of the frame of Fig. 10A.

[0053] Fig. 10C is a schematic representation of a stand of the frame of Fig. 10A, according to an embodiment.DETAILED DESCRIPTION

[0054] Fig. 1 illustrates a schematic representation of tracking weed removal system 10. The system 10 is adapted for field work. The system 10 could be used for indoor or outdoor weed removal activities, such as in greenhouses, or open fields. The system 10 according to the present disclosure is configured to detect, locate and extract, or at least damage, weeds in a detection area along which the system 10 moves. One or more weeds may be simultaneously detected and located.

[0055] In application, the detection area is the surface or zone along which the system 10 moves. The detection, location and removal of the one or more weeds in the detection area may be performed while the system 10 is moving along the ground surface. Displacement of the system 10 may be performed by traction and / or propulsion means. These traction and / or prolusion means can be manned or unmanned. The system 10 may be towed, or otherwise transported, or may be motorized and autonomously or remotely operated. In an embodiment, the system 10 may be mounted to a prime mover, such as a tractor, harvester, or other utility vehicles. Other traction and / or propulsion means, such as ATVs, cars, trucks, or the like could also be used to tow or otherwise transport the system 10 in operation. Other displacement means could be contemplated. For example, the system 10 could be suspended to motorized tracks, whether indoor or outdoor, or displaced on the ground through motorized dollies. The system 10 could itself be motorized in some variants.

[0056] The system 10 includes one or more robotic modules 20 controllable via one or more controller 30. The system 10 has a power management subsystem 40 for at least controlling the supply of power to the one or more robotic modules 20. Additional respective features of these components will be described herein.

[0057] As shown in Fig. 1 , the system 10 has a mounting interface 11. The mounting interface 11 may include one or more connectors or connecting arrangements to secure the system 10 to the displacement means. Such connectors or connecting arrangements may include brackets, male-female connectors, interlocking features, locks, clips, etc. In an embodiment, the system 10 may be mounted to a rear end of a prime mover, such as a rear end of a tractor. As such the mounting interface 11 could be referred to as a towing interface. The mounting interface 1 1 could interconnect with complementary connectors on a front end of a prime mover, such as a front end of a tractor, as another possibility.

[0058] The system 10 has a frame 12. The frame 12 defines the skeleton of the system 10 on which various components may be attached, such as, the components of the robotic module(s) 20, the controller 30 and power management subsystem 40. The frame 12 has opposite ends 12F, 12R, which may be referred to as the trailing end 12R and the front end 12F of the frame 12, with reference to a direction of displacement X relative to the ground surface, as represented in Fig. 1. The frame 12 may have various configurations allowing customizability, scalability, modularity, and convenient assembly / disassembly,depending on needs and applications. The frame 12 shown in Fig. 1 is only one possibility. Variants of the frame 12 are presented with reference to other figures herein.

[0059] In the embodiment shown, the frame 12 has support beams 13 on which the robotic modules 20 may be connected. The support beams 13 extend in a transverse direction relative to the direction of displacement X (or travel direction) of the system 10. There could be only one support beam 13 adapted to support one or more robotic modules 20 in other embodiments. There are a plurality of support beams 13 in at least some embodiments, spaced apart from each other in the direction X, so as to have various possibilities in the mounting of a plurality of robotic modules 20 on the frame 12. Such a configuration is one possibility that allows the mounting of a plurality of robotic modules 20 in series along the direction X. The robotic modules 20 arranged in a serial manner, as shown in Fig. 1 , may jointly perform weed removal in a common crop row to gain even more in weed removal efficiency.

[0060] The support beams 13 may be tubular beams, channels, bars, rails, or other elongated frame members capable of supporting the robotic modules 20 and provide stiffness to the frame 12. The support beams 13 are connected at their opposite ends to base frame members 14. The base frame members 14 may form the main structure of the frame 12, to which the support beams 13 and other components of the system 10 can be attached. In the embodiment shown, the base frame members 14 extend longitudinally along the direction X. The base frame members 14 include lateral members 14S1 , 14S2 of the frame 12 supporting opposite ends of the support beams 13. The lateral members 14S1 , 14S2 extend on opposite sides of the frame 12. The lateral members 14S1 , 14S2 may include brackets for interconnection with the support beams 13, as shown. The support beams 13 may be permanently connected, such as by welding, to the lateral members 14S1 , 14S2, or removably connected, such as by fasteners. The lateral members 14S1 , 14S2 may be of fixed length, or extendable / retractable, such as telescopic members, to adapt the frame 12 to evolving needs.

[0061] The frame 12 includes end frame members 15 which may support the base frame members 14. As shown, the end frame members 15 are located at an end (here front end 12F) of the frame 12. The end frame members 15 may include the mounting interface 11 described above. Portions of the end frame members 15 may define the towing interface 11 . As shown, the end frame members 15 may include upright members 15A having a generally upright orientation. As shown, upright members 15A are located on opposite sides of the frame 12 and connect to ends of the lateral frame members 14S1 , 14S2. The upright members 15A may be connected to one or more transverse member 15B extending between the upright members 15A. The transverse members 15B may interconnect the upright members 15A so as to maintain a fixed distance in-between them. In the embodiment shown, the upright members 15A and transverse members 15B from a rectangular subframe. This is only one possibility. There could be uprights members 15A located elsewhere, i.e., not on opposite sides of the frame 12, and / or transverse members 15B located elsewhere, i.e., not at a bottom end and an upper end of the frame 12, in other embodiments. In theembodiment shown, the end frame members 15 includes strut members 15C extending from the front end 12F of the frame and connecting to the lateral members 14S1 , 14S2, at a distance from the front end 12F. These struts 15C may improve the structural integrity of the frame 12 and limit deflexion of the lateral members 14S1 , 14S2. Indeed, the end frame members 15 may be adapted to support the base frame members 14 in a suspended or cantilevered manner, as shown in Fig. 1 .

[0062] In operation, the frame 12 may thus hover above crops / plants as it is displaced. A clearance 16 is defined under the base frame members 14, between the ground surface and the frame 12 so as to leave space forthe crops / plants passing underneath the frame 12. As shown, the clearance 16 may extend under an entire footprint of the frame 12, without any ground engaging means.

[0063] In some cases, a stand 18 may be present to support the frame 12 on the ground surface when not in use. The exemplary stand 18 may include a swivel trailer stand, as shown, or posts on which the frame 12 can stand on its own when not attached to a prime mover, for example. The stand 18 may include a wheel, caster, or other types of rolling elements allowing the frame 12 to roll onto the ground surface, if needed. There could be a plurality of stands in some embodiments. As such, in some variants, the frame 12 could roll onto the ground surface.

[0064] In Fig. 1 , a plurality of robotic modules 20 are shown, each mounted on a respective one of the support beams 13 of the frame 12. The robotic modules 20 are mounted in a serial manner and are generally aligned in-line. The frame 12 could support a single robotic module 20 or more robotic modules 20. Depending on the size of the frame and needs, there may be a plurality of robotic modules 20 mounted on a single support beam 13, one adjacent each other. Adjacent ones of the robotic modules 20 may be positioned on the support beams 13 so as to align with respective crop rows, which can be standardized or common crop row width of the industry.

[0065] The robotic module 20 is adapted to extract (extract or damage) weeds on the ground surface as the system 10 is being displaced along the ground surface. In operation, the frame 12 may be displaced above the ground surface so as to maintain the clearance 16. The frame 12 is displaceable from a first hovering position to a second hovering position. The displacement may be continuous, at constant speed, or vary in speed, or be discontinuous, depending on the operator. A detection area is defined between the first hovering position and the second hovering position within the clearance 16. The robotic modules 20 are located at an elevation above the detection area. The robotic module 20 are in relative displacement with respect to the detection area. As the frame 12 is being displaced, the robotic module 20 may detect one or more weeds in the moving detection area, associate one or more positions within the detection area at respective locations where weeds have been detected, and operate an actuation sequence to reach one of said positions (or sequentially reaching a plurality of these positions) during displacement and extract (or damage) the weed associated with a respective position from the ground.

[0066] Referring to Figs. 2-3, features of the robotic module 20 mountable to the frame 12 will now be described. The robotic module 20 has an end effector 21 . The end effector 21 is operable to move within the clearance 16. The end effector 21 may reach and / or extract weeds in the detection area. The end effector 21 is displaceable in the clearance 16 between an elevated position and a down position closer from the ground surface than the elevated position.

[0067] The displacement may be decomposed into vector components along transverse reference axes. Reference axes X, Y, and Z are represented on Fig. 2. References to axis X, Y, and Z throughout the disclosure are made with respect to this spatial referential. For simplicity, the direction of displacement X described above and shown in Fig. 1 corresponds to axis X of the spatial referential.

[0068] In addition to the displacement of the frame 12 along the axis X, the displacement of the end effector 21 from an elevated position to a down position may be the resultant of a displacement in one translational degree of freedom (DOF) of the end effector 21 along the axis Z, and a displacement in another translational DOF of the end effector 21 along axis Y. The resultant vector of displacement may thus correspond to the sum of displacement vectors of the end effector 21 in an Y-Z plane transverse to the ground surface. In at least some embodiments,, the end effector 21 is movable in two translational degrees of freedom (DOF) relative to the frame 12, i.e., along the Y axis and the Z axis. As the frame 12 is displaceable along the X-axis, the end effector 21 may be movable along X, Y and Z in the detection area. Additionally, rotational DOFs may be introduced if necessary. However, in a cost-effective arrangement, the system 10 in and of itself provides two actuatable DOFs to its end effector 21 relative to the frame 12. A trajectory of the end effector 21 in such Y-Z plane could be linear, or curvilinear, depending on the velocity of the end effector 21 along axes Y, Z, respectively. A same observation can be viewed in a X-Z plane and a X-Y plane as the end effector 21 is displaced in the clearance 16 during movement of the frame 12 from the first hovering position to the second hovering position.

[0069] In the embodiment shown, the robotic module 20 has a rod 23. The end effector 21 is attached at an end of the rod 23. The rod 23 may also form part of the end effector21 . The rod 23 is displaceable along axis Z relative to a remainder of the robotic module 20. The rod 23 may impart to the end effector 21 a linear displacement (i.e., a translation) from the elevated position to the down position. The displacement of the rod 23 is guided by a holder 24. The rod 23 is movably connected to the holder 24. In an embodiment, the holder 24 and the rod 23 define a male-female connection. As shown, the rod 23 is translatably received in an opening of the holder 24. The rod 23 may be slidingly engaged to the holder 24. The rod 23 may slide in a sleeve attached to the holder 24 or forming part thereof, for example. The holder 24 has at least one guiding element 24A. The guiding element 24A may maintain an alignment of the rod 23 relative to the holder 24 as the rod 23 moves. In the embodiment shown, the holder 24 includes a plurality of guiding elements 24A, each guiding the displacement of the rod 23 relative to the holder 24. The guiding elements 24A are spaced apart from each other along the rod 23. The rod 23 may be supported and / or guided overa portion of its length via the plurality of guiding elements 24A. The guiding elements 24A may have a hole or other rod engaging features having a shape that corresponds to that of the periphery of the rod 23. The rod 23 may be tubular, with a round, rectangular, or other peripheral cross-section. The rod 23 could be a plain rod, as another possibility. The guiding elements 24A may have rod engaging features that embrace and / or surround the rod 23 configured to block all degrees of freedom of the rod 23 except one DOF in translation, along axis Z. The guiding elements 24A may form part of a bracket, plate, sleeve or other couplings forming part of the holder 24.

[0070] The robotic module 20 has a guide rail 25. The guide rail 25 extends longitudinally along axis Y. The guide rail 25 extends longitudinally in a transverse direction relative to the rod 23 and / or axis Z. The holder 24 is mounted to the guide rail 25. As such, the assembly including the rod 23 and the holder 24 are mounted to the guide rail 25. The guide rail 25 may include brackets, plates, couplings to which the holder 24 can attach. Attachment of the holder 24 on the guide rail 25 may be via fasteners. The guide rail 25 may guide a linear displacement of the holder 24 relative to the remainder of the robotic module 20 that is fixed to the frame 12. In the embodiment shown, the linear displacement is along axis Y. The guide rail 25 may thus guide a linear displacement along axis Y to the end effector 21 .

[0071] The robotic module 20 includes an actuation unit 26. The actuation unit 26 is drivingly engaged to the end effector 21 to cause a displacement of the end effector 21 between its elevated position and down position. The actuation unit 26 may drive the displacements of the end effector 21 within the clearance 16. The actuation unit 26 includes an actuator 26A causing the linear displacements of the rod 23 along the axis Z. In the embodiment shown, the actuator 26A includes a drive 26AM. The drive 26AM may be an electric motor, such as a servomotor. The actuator 26A includes a linear gear 26AR. The linear gear 26AR may define part of a rack and pinion arrangement. As shown in Fig. 3, in an embodiment, the rod 23 may include the linear gear 26AR part of the actuator 26A. The pinion of the rack and pinion arrangement of the embodiment shown may be mounted on a shaft axis of the drive 26AM. Other torque transmitter could be contemplated to drive the linear displacement of the rod 23. The actuation unit 26 may also include an actuator 26B causing the linear displacement of the guide rail 25, thus indirectly the end effector 21 , along axis Y. The actuator 26B may be a linear actuator, which may include a drive 26BM, such as an electric motor, servomotor, linear gear like linear gear 26AR, a rack and pinion arrangement, as described above with respect to the actuator 26A. The guide rail 25 may be considered part of the actuator 26B or part of a separate guiding arrangement cooperating with the actuator 26B to cause the linear displacement. The actuators 26A, 26B could be pneumatic actuators in some variants. Other arrangements than a rack and pinion may be contemplated such as a roller screw, e.g., planetary roller screw, and a threaded rod.

[0072] In at least some embodiments, the robotic module 20 may thus have a plurality of actuators, with each actuator causing a linear displacement in a respective plane so as to, when combined with the travel motion of the system 10 along the ground surface, provide a resulting displacement trajectory of the endeffector 21 in the 3-dimensional space. While in the example shown the module 20 may cause a combination of linear displacements in two degree of freedom in planes that are orthogonal with the travel direction vector of the system 10, the module 20 could be oriented differently with respect to the travel direction and still be adapted to have a resultant displacement trajectory of the end effector 21 from a first position, such as the elevated position, to a second position, such as the down position as described herein in the clearance 16. In other embodiments, there could be a plurality of actuators which, in cooperation, provide a motion of the end effector 21 in respective planes (X-Z, Y-Z, Z-Y) and / or a motion in the direction of the reference axes X, Y , and Z.

[0073] While an actuated rod 23 and holder 24 assembly is described as forming the elevation displacement mechanism of the system 10, other mechanical arrangements allowing a guided displacement of the end effector in an upright direction (or vertical direction) could be contemplated. Similarly, the actuated guide rail 25 is only one example of linear displacement mechanism. Other mechanisms could combine motion in more than one degree of freedom to provide a resulting motion of the end effector 21 in the 3-dimensional space, from the elevated position to the down position in the clearance 16.

[0074] In the embodiment shown, the end effector 21 includes a needle, but other tool may be contemplated, as will be described later. In operation, the needle-type of end effector 21 may penetrate the ground to damage the roots of the targeted weeds. Such tool may be used for tiny weeds that could not be pulled out using other types of tool, such as the gripper described later. By targeting the roots of the weeds, the needle-type end effector 21 may cause damage to the roots and / or loosen the ground at the location of the roots or base of the weed, thereby limiting the growth of the weeds. The needle-type end effector 21 may also be used to scrape or loosen compacted soil at the surface. A subsequent robotic module 20, with the gripper-type end effector 21 discussed later, may then detect, locate and extract the weeds more easily from the loosen soil. The needle-type end effector 21 may thus work in cooperation with the gripper-type end effector 21 to weed out the ground, in some possible configurations of the system 10.

[0075] The robotic module 20 includes a detection unit 27 for capturing images of the ground surface, and for monitoring a position of the system 10 relative to the detection area as the frame 12 is hovering between the first hovering position and the second hovering position. In an embodiment, the detection unit 27 includes an imaging device 27A. While the detection unit 27 is said to be part of the robotic module 20, it may be a standalone device on the frame 12, for example with one detection unit 27 used for multiple robotic modules 20. In at least some embodiments, the imaging device 27A includes a camera. The camera may capture images in a wide color spectrum. In at least some embodiments, the camera may be a high imaging resolution camera, such as webcam cameras or machine vision cameras. A camera having a high frame rate capacity may be advantageous, in order to capture clearer images of the ground surface as the system 10 is in motion relative thereto. An exemplary camera may be C920 Pro Webcam, commercializedby Logitech. The imaging device 27 A could have night vision or capabilities, in some variants. The images captured by the imaging device 27A may provide information as to the size, shape, colors of leaves and / or roots (visible from above the ground surface) of plants (crops and / or weeds). This information may then be computed by the controller 30 to identify, qualify, and / or classify a detected object in the detection area. This will be discussed later.

[0076] The detection unit 27 includes a position sensor 27B adapted to measure a field depth in the detection area. The position sensor 27B may be housed in and / or be part of the imaging device 27A in some embodiments, or housed separately from the imaging device 27A as a standalone component, in other embodiments. An exemplary position sensor 27B may be a laser imaging detection and ranging (LiDAR) module, such as a micro LiDAR module, or other suitable position sensor 27B able to measure distance between it and a surface / object in its field of vision.

[0077] In at least some embodiments, when the robotic module 20 is mounted on the frame 12, the imaging device 27A is located closer from the front end 12F of the frame 12 than the end effector 21 and / or the position sensor 27B. It may be desirable to position the imaging device 27A physically closer from the front end 12F or “upstream” of the end effector 21 to perform the detection of weeds ahead of the end effector 21 , as the system 10 moves, for the system 10 to have an increased reactiveness in the removal of the weeds.

[0078] The robotic module 20 includes a mounting interface 28. In the embodiment shown, the mounting interface 28 includes a mounting channel 28A. The mounting channel 28A may be removably secured to a support beam 13 of the frame 12. The robotic module 20 may be removably secured to the support beam 13, to allow adjustability, modularity and fine tuning of the placement of the robotic module 20 on the frame 12 depending on the application. In an embodiment, the mounting channel 28A may straddle a support beam 13 of the frame 12. Fixing the position ofthe robotic module 20 on the support beam 13 may be made by brackets, fasteners, couplings, clips, or a combination thereof. Other mounting interface 28 could be contemplated in other embodiments, such as interlocking features, other male-female connections, magnetic connection, etc..

[0079] The robotic module 20 includes a casing 29. The casing 29 may enclose controller(s) of the actuation unit 26 and / or detection unit 27, power supply controls or other components, such as electric components or wiring for communicatively coupling any one of the actuation unit 26 and / or detection unit 27 together or with a main controller. The casing 29 may enclose a number of electronic components for the processing, monitoring, storage and / or communication of data and / or signal. Such components may include electronic circuits, chips, microchips and other hardware, and / or software stored in a computer- readable medium to implement functions of the robotic module 20, in addition to implementing operative functions for the power management system 40. In some embodiments, the casing 29 could enclose a power source, such as a battery, as an energy storage distinct from the power management system 40(described later), with solar power generation being an option. Any or all of the above may be part(s) of what is referred to herein as the controller 30. The controller 30 may include one or more processor, data storage, computer, etc. to collect, store, process, and / or compute data, images and / or signals received from the detection unit 27. The detection unit 27 is communicatively coupled to the controller 30. Data and / or signals indicative of a detection or absence thereof, and / or indicative of a position of one or more weeds, may be conveyed to the controller 30 by wired connection, or wireless connection, depending on the embodiment. The system 10 may be capable of filtering out some non-relevant information captured to detect the weeds, and / or identify objects, such as plants, that are not weeds.

[0080] Further aspects of the controller 30 will now be described with reference to Fig. 4A, which illustrates schematically the controller 30. The controller 30 may include a processing unit 31 and a memory 32 which has stored therein computer-executable instructions 33. The memory 32 may also store other relevant information for the implementation of the processes, such as algorithms. The processing unit 31 may comprise any suitable device configured to implement the functionality of the controller 30 such that instructions 33, when executed by the processing unit 31 or other programmable apparatus, may cause at least some of the functions of the robotic module 20 and / or system 10. The processing unit 31 may include, for example, any type of general-purpose microprocessor or microcontroller, a digital signal processing (DSP) processor, a central processing unit (CPU), an integrated circuit, a printed circuit board (PCB), other suitably programmed or programmable logic circuits, custom-designed analog and / or digital circuits, or any combination thereof. The memory 32 may comprise any suitable known or other machine-readable storage medium. The memory 32 may comprise non-transitory computer readable storage medium, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. The memory 32 may include a suitable combination of any type of computer memory that is located either internally or externally to device, for example random-access memory (RAM), read-only memory (ROM), electro-optical memory, magnetooptical memory, or the like. The memory 32 may comprise any storage means (e.g., devices) suitable for retrievably storing machine-readable instructions 33 executable by processing unit 31 . Input data or signal may be received at the controller 30, for instance from the detection unit 27. The controller 30 may process and convey output data or signals to a user interface, such as a monitor, for further processing, for visualisation, analysis, monitoring or storage, or a combination thereof, for example. In a mode of operation, the controller 30 may receive images of the ground surface in the detection area from the detection unit 27, such as a continuous feed of images (e.g., a video feed). The controller 30 may process these images and, through image processing algorithms, may detect the presence of one or more - or all of - the plants that are entering the detection area, or may detect undesired plants, i.e., weeds. The controller 30 may classify the plants that are detected, though in a simpler form, the controller 30 processes the images to detect weeds. The classification may be performed by comparing the processed images to an images database, for example, to identify known plants (e.g., vegetables). The identification may be via leaves shape and / or color comparisons, or roots comparison (when visible in the detection area), for example. All plants enteringin the detection area that are not classifiable may be identified as an undesirable plant, i.e., weed. The controller 30 may concurrently receive position data from the detection unit 27, the position data being paired with the image feed. The mapping of the ground surface in the detection area may provide a plurality of weed positions in the clearance 16. A monitoring of the position ofthe system 10 relative to the detection area as the frame 12 hovers may thus be performed by using position data received from the detection unit 27. The controller 30 may then associate one or more of the positions received from the detection unit 27 to one or more weeds that have been detected in the detection area by the image processing. As the system 10 continues to move relative to the detection area (or vice versa), a trajectory of the system 10 relative to the ground surface and / or relative to the detected weeds is monitored by a continuous image capture and processing. As the robotic module 20 approaches the position associated with the detected weed, a sequence of activation of the actuation unit 26 is initiated. The controller 30 may drive a displacement of the end effector 21 to the down position so as to reach a targeted one of the detected weeds. Such sequence of activation may be a function of the travel speed ofthe system 10 relative to the ground surface. The controller 30 may cause the activation of the actuation unit 26 to position the end effector 21 in line with a targeted one of the detected weeds. In a mode of operation, such positioning may correspond to a positioning along the axis Y of the end effector 21 . Such positioning may thus align the end effector 21 in a common X-Z plane with the targeted one of the detected weeds. The sequence of activation may then include causing a displacement of the end effector 21 along the axis Z to move the end effector 21 closer to the ground surface. The end effector 21 may reach the targeted one of the detected weeds and be operated so as to damage or grip it. In modes of operation where the end effector 21 is configured to grip a weed, the end effector 21 may pull upwardly the weed, whereby the controller 30 causes a displacement of the end effector 21 from the down position to the elevated position (or an intermediary position between the fully elevated position and the down position). The end effector 21 may then dispose of the gripped weed by dropping the gripped weed away from the crop line, for example. Once the gripped weed is dropped, a subsequent sequence of activation of the robotic module 20 may then be performed.

[0081] In variants, the controller 30 may also receive load or force data from a load sensor 27C of the detection unit 27 to monitorthe position ofthe end effector 21 in operation. The load sensor 27C may sense the load applied onto the end effector 21 by the ground surface, when the end effector 21 (or tool) contact the ground for extraction of or damaging the targeted weed. In an embodiment, the load sensor 27C may be embedded in a component of the actuation unit 26. For example, the actuation unit 26 may include an actuator 26A having a drive 26AM, such as a servodrive, embedding the load sensor 27C. Such a load sensor 27C may be adapted to detect a torque on the drive 26AM, a torque variation, or other loads or load variations as the end effector 21 operates. Other load sensors and load sensor arrangement may be contemplated. For example, one or more load sensors may be mounted on other components ofthe robotic module 20, such as on the rod 23, holder 24, rail 25, at interfaces therebetween, at the tool end of the end effector 21 (or forming part thereof). The load sensor 27C may allow to monitor in real-time or quasi realtime the load that is applied onto the end effector 21 . In operation a drastic load change monitored at theend effector 21 may be caused by the end effector 21 contacting the ground. By monitoring the impact loads induced at the end effector 21 , the controller 30 may more reliably control the action of the end effector 21 and monitor its position relative to the ground. Such monitoring of the ground impact may provide a more precise monitoring of the position of the end effector 21 during the grasping / hitting, and ensure that the end effector 21 completes its actuation sequence and / or reaches the targeted zone (e.g., weed base, weed root, ...). In some variants, the controller 30, via a combination of image data from the imaging device 27A, position data from the position sensor 27B, and load data from the load sensor 27C, may process the detection of the presence of one or more weeds, the association of position(s) within the detection area with detected weeds, and the monitoring of the impact on the selected targets to hit that are associated with the allocated positions in the detection area corresponding to the positions of the weeds. The addition of the impact detection may allow, for example, to enhance the precision of the hit and / or reduce detection errors by the position sensor 27B that may be due to abundant coverage of the ground by plant foliage as the crop grows.

[0082] The power management subsystem 40 (or PMS 40) may control the power supplied to each robotic module 20. The PMS 40 may thus be communicatively and / or operatively coupled to the robotic module 20, via its controller 30, for example. The PMS 40 may include one or more controller 41 , which may have the same components as described above with respect to the controller 30, and as not repeated for conciseness. The PMS 40 includes an energy storage 42, which may include one or more battery or battery pack (e.g., rechargeable), and a power generator 43, with solar power generation being an option. For example, in an embodiment, the system 10 may include at least one solar panel mounted to the frame 12 to generate power that may then be used to supply the robotic module(s) 20. Power may be supplied to the PMS 40 via power generated from or stored in the prime mover to which is attached the system 10. As such, the PMS 40 may include a energy converter, such as an alternator, that converts power generated by the primer mover, e.g., mechanically, to electric power usable by the PMS 40 and robotic module(s) 20. For example, in an embodiment, as illustrated in Fig. 4B, the power generator 43 may include components that are operatively connected to a hydraulic system of the prime mover or prime mover engine. In such case, the PMS 40 may include a hydraulic alternator 43A interfacing with the hydraulic system of the prime mover. A voltage regulator 43B (e.g., uninterrupted power supply) may be part of the PMS 40 to regulate the voltage generated by the power generator 43. The power generated by the hydraulic system of the prime mover may vary in function of the power generated by the prime mover engine in operation. As such, the power generated may vary with the prime mover speed, or workload. A power regulator of the PMS 40 may ensure that the power supplied at the controllers 30, 41 be more constant. As illustrated in Fig. 4B, the hydraulic system of the prime mover, which may include a hydraulic pump, may operatively engage a hydraulic alternator 43A to convert hydraulic power into electric power. Such electric power may be regulated before it is supplied to the controllers 30, 41 and modules 20, 320, via a voltage regulator 43B. As another example, as illustrated in Fig. 4C, the power generator 43 may include components 43C (e.g., alternator) that are operatively connected to a power take-off (PTO) shaft of the prime mover. The powersource may thus be the prime mover engine, via the transmission and PTO shaft operatively connected thereto. The system 10 may have its own energy storage means, such as the energy storage 32 of the PMS 40, or rely on energy storage of the primer mover, such as batteries or battery packs from the prime mover; however this is optional. A variant of the power source to supply power to the PMS 40 may be a gas generator (e.g., portable gas generator) or portable power station (electric), for example. It may be advantageous to have a system 10 that is fully independent from the energy generation and storage perspective in order to contribute to better modularity and adaptability to various displacement means.

[0083] Referring to Fig. 5, an operating configuration of the system 10 is shown. In Fig. 5, an exemplary prime mover rear end is shown with the system 10 attached thereto. As shown, a substantial portion of the frame 12 is covered by a casing CC. The casing CC may be attached to the frame 12 and overly the one or more robotic modules 20. The casing CC is opened towards the ground surface so as to not obstruct the vision of the detection unit 27. The clearance 16 under the frame 12 is maintained when the casing CC is present. The casing CC may block or at least limit the sunlight that may enter in the detection area. Direct sunlight may interfere with the image capturing of the imaging device 27A (e.g., reflections or varying light intensity during the capture of images by the imaging device 27A). The casing CC may thus allow better image processing and weed detection in at least some embodiments.

[0084] Referring to Fig. 6, a variant of the system 10 is shown at 100. The system 100 is shown with a plurality of robotic module 200, similar as the embodiments described above with respect to the previous figures. The system 100 includes a frame 120 including a mounting interface 110 similar to the mounting interface 11 described herein above. The frame 120 defines a common mounting for a plurality of subframes 120S, each having a set of support beams 130 to support their respective robotic modules 200. Each subframe 120S has its own controller 300, here illustrated as casing enclosing components of the controller 300, though a controller 300 may be shared by the subframes 120S. In this variant, the system 100 has a single detection unit 270 located at the front end 120F, on the frame 120. The single detection unit 270 is communicatively coupled to each controller 300 associated with respective ones of the subframes 120S. In this variant, the detection unit 270 may capture images overthe entire width of the detection area, instead of a selected portion of the detection area generally aligned with one or more robotic modules 20. The image processing may then occur at separate controllers 300, based on a single imaging device input and a single position sensor input. While this may limit the overall volume of data, a lower data resolution and other problematics, such as potential dead angles for the detection unit, may limit the precision of the system, and computation errors.

[0085] Referring to Figs. 7A and 7B, a variant of the end effector 21 of the robotic module 20 is shown at 200. Similar features as that described above with respect to end effector 21 will not be described again for conciseness but similarly apply to the variant of the end effector 21 now described, and shown at 210. The end effector 210 includes a gripper 211. In an embodiment, the gripper 211 includes a plurality of grippingmembers 212. In an embodiment, the plurality of gripping members 212 include a pair of gripping members 212 that, upon actuation, move between a release position and a gripping position. Movement between the release position and the gripping position may be a displacement of the gripping members 212 along the axis Y, along axis X, or a combination thereof. In the embodiment shown, the gripper 211 is actuatable via an actuator 213. The actuator 213 is mounted to the rod 23. The actuator 213 is drivingly engaged to the gripper 211 . At least one of the gripping members 212 may be drivingly engaged to the actuator 213. In some embodiments, a single gripping member 212 may move as the other(s) remain fixed. All of the gripping members 212 may be drivingly engaged to the actuator 213. As shown, in an embodiment, the actuator 213 may be connected to a gripper connector 214 coupled to one or more of the plurality of gripping members 212. The gripper 211 may be configured to be biased in the release position. The gripper 21 1 may remain in the release position without activation of the actuator 213. In at least some embodiments, the gripper211 includes a biasing member215. The biasing member215 may include spring loaded blades, for example, for biasing the gripping members 212 towards the release position. Upon actuation of the actuator 213, the actuator 213 may force against the spring load of the biasing member 215 to cause a displacement ofthe gripping members 212 towards the gripping position. Actuation of the actuator 213 may include a pulling action of the actuator 213 on the gripper connector 214, which may in turn pull on the spring loaded blades, thereby causing a deformation of the spring loaded blades. As the spring loaded blades are deformed, the gripping members 212 may progressively move towards each other. Once in the gripping position, the gripping members 212 may contact each other. The actuator 213 may cause a gripping load against the gripping members 212 as they are in the gripping position. In a mode of operation, the gripping load may be applied to a gripped weed, such that the weed may then be pulled upwardly to extract the weed from the ground when gripped between the gripping members 212. The gripped weed may be released when the gripper 211 is actuated to re-gain the release position. A subsequent sequence of activation of the end effector 210 may then be initiated by the controller.

[0086] Referring to Fig. 8, another embodiment of the robotic module 20 will now be described. Like features described above with respect to the robotic module 20 may apply to the robotic module identified at 320 in Fig. 8 and will not be described again in their entirety for brevity.

[0087] The robotic module 320 is mountable to the frame 12. The robotic module 320 has an end effector 321 that is displaceable to reach a targeted weed in the detection area. In addition to the displacement of the frame 12 along the axis X, the displacement of the end effector 321 from an elevated position to a down position may be the resultant of a displacement in one translational degree of freedom (DOF) of the end effector 321 along the axis Z, and a displacement in another translational DOF of the end effector 321 along axis Y. The resultant vector of displacement may thus correspond to the sum of displacement vectors of the end effector 321 in an Y-Z plane transverse to the ground surface. In at least some embodiments,, the end effector 21 is movable in two translational degrees of freedom (DOF) relative to the frame 12, i.e., along the Y axis and the Z axis. As the frame 12 is displaceable along the X-axis, the end effector 21 maybe movable along X, Y and Z in the detection area. Additionally, rotational DOFs may be introduced if necessary. However, in a cost-effective arrangement, the system 10 in and of itself provides two actuatable DOFs to its end effector 21 relative to the frame 12. A trajectory of the end effector 321 in such Y-Z plane could be linear, or curvilinear, depending on the velocity of the end effector 321 along axes Y, Z, respectively. A same observation can be viewed in a X-Z plane and a X-Y plane as the end effector 321 is displaced in the clearance 16 during movement of the frame 12 from the first hovering position to the second hovering position.

[0088] In the embodiment shown, the robotic module 320 has a rod 323. The end effector 321 is attached at an end of the rod 323. The rod 323 is displaceable along axis Z relative to a remainder of the robotic module 320. The rod 323 may impart to the end effector 321 a linear displacement (i.e., a translation) from the elevated position to the down position. The displacement of the rod 323 is guided by a holder 324. The rod 323 is movably connected to the holder 324. In an embodiment, the holder 324 and the rod 323 define a male-female connection. The movement of the rod 323 is guided by the holder 324. As shown, the holder may interface with the rod 323 at several locations along the rod to maintain its alignment as it translatably displaced from the elevated position to the down position (and vice versa). The rod 323 may slide in a sleeve attached to the holder 324 or forming part thereof, for example. The holder 324 has at least one guiding element 324A,. The guiding element 324A may maintain an alignment of the rod 323 relative to the holder 324 as the rod 323 moves. In the embodiment shown, the holder 324 includes a plurality of guiding elements 324A, each guiding the displacement of the rod 323 relative to the holder 324. The guiding elements 324A are spaced apart from each other along the rod 323. The rod 323 may be supported and / or guided over a portion of its length via the plurality of guiding elements 324A. The guiding elements 324A may have a hole or other rod engaging features having a shape that corresponds to that of the periphery of the rod 323. The rod 323 may be tubular, with a round, rectangular, or other peripheral cross-section. The rod 323 could be a plain rod, as another possibility. The guiding elements 324A may have rod engaging features that embrace and / or surround the rod 323 configured to block all degrees of freedom of the rod323 except one DOF in translation, along axis Z. In the embodiment shown, the guiding elements 324A form part of the holder 324, or subframe of the robotic module 320. Bracket, plate, sleeve or other couplings forming part of the holder 324. The rod 323 is one possible configuration of an actuation subassembly for the end effector 321 . For example, in variants, the actuation subassembly may include articulated members, with joints and / or pivots, or flexible members that are deformable to induce a displacement of the end effector 321 in the desired trajectory upon actuation.

[0089] The robotic module 320 has a rail system 325. The rail system 325 includes at least one guide rail 325R, here a pair of guide rails 325R. The guide rails 325R extend longitudinally along axis Y. The guide rails 325R extend longitudinally in a transverse direction relative to the rod 323 and / or axis Z. The holder324 is mounted to the rail system 325. As such, the assembly including the rod 323 and the holder 324 are mounted to the rail system 325. The rail system 325 may include one or more carriers 325C displaceablyengaged to the guide rails 325R. The carriers 325C interface between the holder 324 and the guide rails 325R. The carriers 325C may include brackets, plates, couplings to which the holder 324 can attach. Attachment of the holder 324 on the carriers 325C may be via fasteners. The rail system 325 may guide a linear displacement of the holder 324 relative to the remainder of the robotic module 320. In the embodiment shown, the linear displacement is along axis Y. The rail system 325 may thus guide a linear displacement along axis Y to the end effector 321 . The rail system 325 may be configured to block all degrees of freedom (DOF) of the holder 324 relative to a remainder of the robotic module 320, except one DOF in translation.

[0090] The robotic module 320 includes an actuation unit 326. The actuation unit 326 is drivingly engaged to the end effector 321 to cause a displacement of the end effector 321 between its elevated position and down position. The actuation unit 326 may drive the displacements of the end effector 321 within the clearance 16 (Figs. 1 and 5). The actuation unit 326 includes an actuator 326A causing the linear displacements of the rod 323 along the axis Z. The actuator 326A may include a drive, linear gear, etc., similar as described above with respect to actuator 26A. . The actuation unit 326 may include a rack and pinion arrangement as described above. The pinion of the rack and pinion arrangement of the embodiment shown may be mounted on a shaft axis of the actuatpr 326A. Other torque transmitter could be contemplated to drive the linear displacement of the rod 323. The actuation unit 326 may include an actuator 326B causing the linear displacement of the holder 324 along the rail system 325, thus indirectly the end effector 321 , along axis Y. The actuator 326B may be a linear actuator, like the actuator 26B described above. The actuators 326A, 326B could be pneumatic actuators in some variants. In at least some embodiments, the actuation unit 326 may include an actuator 326C for actuating the tool or end effector 321 (e.g., gripper, needle, etc.). The actuator 326C may be an electromagnetic, pneumatic or electric actuator, for example. In an embodiment, the actuator 326C includes a solenoid operatively engaged to the end effector 321 , such as the gripper or needle discussed above, to actuate the end effector 321 (e.g., open and close the gripper, project the end effector towards the ground, etc.).

[0091] In at least some embodiments, the robotic module 320 may thus have a plurality of actuators, with each actuator causing a linear displacement in a respective plane so as to, when combined with the travel motion of the system 10 along the ground surface, provide a resulting displacement trajectory of the end effector 321 in the 3-dimensional space. While in the example shown the module 320 may cause a combination of linear displacements in two degree of freedom in planes that are orthogonal with the travel direction vector of the system 10, the module 320 could be oriented differently with respect to the travel direction and still be adapted to have a resultant displacement trajectory of the end effector 321 from a first position, such as the elevated position, to a second position, such as the down position as described herein in the clearance 16 (Figs. 1 and 5). In other embodiments, there could be a plurality of actuators which, in cooperation, provide a motion of the end effector 321 in respective planes (X-Z, Y-Z, Z-Y) and / or a motion in the direction of the reference axes X, Y , and Z.

[0092] While an actuated rod 323 and holder 324 assembly is described as forming the elevation displacement mechanism of the system 10, other mechanical arrangements allowing a guided displacement of the end effector in an elevation direction (or vertical direction) could be contemplated. Similarly, the rail system 325 with actuated displacement of the holder 324 therealong is only one example of linear displacement mechanism. Other mechanisms could combine motion in one or more than one degree of freedom to provide a resulting motion of the end effector 321 in the 3-dimensional space, from the elevated position to the down position in the clearance 16 (Figs. 1 and 5).

[0093] The robotic module 320 includes a detection unit 327 for capturing images of the ground surface, and for monitoring a position of the system 10 relative to the detection area as the frame 12 is hovering between the first hovering position and the second hovering position. In an embodiment, the detection unit 327 includes an imaging device 327A, a position sensor 327B, and in at least some variants, a load sensor 327C, similar as the imaging device 27A, the position sensor 27B and the load sensor 27C described above and not repeatedly described herein for brevity.

[0094] The robotic module 320 includes a mounting interface 328. In the embodiment shown, the mounting interface 328 includes a mounting channel 328A. The mounting channel 328A may be removably secured to a support beam 13 of the frame 12. The robotic module 320 may be removably secured to the support beam 13, to allow adjustability, modularity and fine tuning of the placement of the robotic module 320 on the frame 12 depending on the application. In an embodiment, as shown, the mounting channel 328A may straddle a support beam 13 of the frame 12. Fixing the position of the robotic module 320 on the support beam 13 may be made by brackets, fasteners, couplings, clips, or a combination thereof. Other mounting interface 328 could be contemplated in other embodiments, such as interlocking features, other male-female connections, magnetic connection, etc.. In the embodiment shown, the mounting interface 328 is part of a robotic module frame 328F. The frame 328F is sized and configured to allow simple installation or removal of the robotic module 320 onto the frame 12 of the system 10. As shown, the frame 328F includes a plurality of frame components, such as brackets, plates, etc., that are assembled to form a standalone, self-sustainable frame 328F. In some embodiments, the frame 328F may include one or more handle 328H to facilitate manual handling of the robotic module 320. In the embodiment shown, the handles 328H are disposed on opposite sides of the frame 328F. Such handles 328H and handle positioning are optional. The frame 328F may define the skeleton of the robotic module 320 on which electronic and structural components of the robotic module 320 are mounted. For example, as shown, the rail system 325 is mounted to the frame 328F, with the holder 324 displaceably engaged thereto. Wired connection and passages can also be attached to the frame 328F.

[0095] The robotic module 320 includes a casing 329. The casing 329 may be mounted to the frame 328F. The casing 329 may enclose controller(s) of the actuation unit 326 and / or detection unit 327, power supply controls or other components, such as electric components or wiring for communicatively coupling any oneof the actuation unit 326 and / or detection unit 327 together or with a main controller. The casing 329 may enclose a number of electronic components for the processing, monitoring, storage and / or communication of data and / or signal. Such components may include electronic circuits, chips, microchips and other hardware, and / or software stored in a computer-readable medium to implement functions of the robotic module 320, in addition to implementing operative functions forthe power management system 40. In some embodiments, the casing 329 could enclose a power source, such as a battery, as an energy storage distinct from the power management system 40 (described above), with solar power generation being an option. Any or all of the above may be part(s) of what is referred to herein as the controller 330. The controller 330 may include one or more processor, data storage, computer, etc. to collect, store, process, and / or compute data, images and / or signals received from the detection unit 327. The detection unit 327 is communicatively coupled to the controller 330. Data and / or signals indicative of a detection or absence thereof, and / or indicative of a position of one or more weeds, may be conveyed to the controller 330 by wired connection, or wireless connection, depending on the embodiment. The system 10 may be capable of filtering out some non-relevant information captured to detect the weeds, and / or identify objects, such as plants, that are not weeds.

[0096] Referring to Figs. 9A to 9C a variant of the frame 12 of the system 10 will now be described as frame 412. Similar features as the frame 12 described above will not be described again for brevity, however it should be understood that features described above may similarly apply in the variant of the frame now presented.

[0097] As shown, the frame 412 has opposite ends 412F, 412R, which may be referred to as front end and trailing end, respectively, with reference to the direction of displacement X relative to the ground surface, as similarly described above with respect to the frame 12. The frame 412 has support beams 413 on which the robotic modules 20, 320 may be connected (two modules 320 illustrated). The support beams 413 are segmented longitudinally so as to define separate beam sections. Some of the beam sections 413S are articulated to move from a deployed position to a retracted position. As shown, the frame 412 has a central or main section, and lateral sections on opposite sides of the central section. The lateral sections are movable with respect to the central section. In Figs. 9A-9B, the lateral sections are in the deployed position, in which the frame 412 spans at its widest. In Fig. 9C, the lateral sections are in a retracted position, here raised so as to reduce the width of the frame 412 for storage, maintenance or non-use state, to limit the footprint of the frame 412 when not in use. In the deployed position, the clearance 416 extend under the lateral sections. In other words, the lateral sections span above the clearance 416. The detection area may thus extend widthwisely under all or substantially all of the central section and deployable lateral sections 412S of the frame 412.

[0098] The lateral sections of the support beams 413 may be actuated via an actuation unit. The actuation unit may include one or more actuators to deploy and retract the lateral sections relative to the centralsection. In the embodiment shown, the actuators are manual actuators, with respective actuators configured to actuate respective ones of the lateral sections of the support beams 413. The manual actuators may include a manual crank, though powered actuators are also contemplated (e.g., electric or hydraulic power). In the embodiment shown, the manual actuators are operatively engaged to the respective lateral sections via one or more cables that are attached to a lateral section 412S of the frame 412. The actuation unit may include one or more pulleys engaging the cable(s). Upon actuation of the actuators, the cable(s) may be tensioned and pull a lateral section 412S from the deployed position to gain the retracted position. Tension in the cables and the retracted position may be maintained via a locking mechanism, forming part of the actuator or as a separate component of the actuation unit. As shown in Fig. 9C, the frame 412 has base frame members 414 forming the main structure of the frame 412, to which the support beams 413 and other components of the system 10 can be attached. Base frame members 414 forming part of the lateral sections 412S of the frame 12 are pivotally engaged to base frame members 414 forming part of the central section of the frame 412, at respective pivots 414P. Upon actuation of the lateral sections 412S from the deployed position to the retracted position (orvice versa), the lateral sections 412S pivot relative to the central section, at the pivots 414P. The frame 412 includes end frame members 415 that may support the base frame members 414. The end frame members 415 may include a mounting interface as the mounting interface 11 described above.

[0099] A plurality of stands 418 are present to support the frame 412 on the ground surface when not in use. The stands 418 include casters at respective front and tailing ends of the frame 412. The stands 418 may serve as supports forthe frame 412 only when not in use or not attached to a prime mover, for example, though stands 418 could roll on the ground the weed removal process.

[0100] Referring to Figs. 10A-10C a variant of the frame 12 of the system 10 will now be described as frame 512. Similar features as the frame 12, 412 described above will not be described again for brevity, however it should be understood that features described above may similarly apply in the variant of the frame now presented.

[0101] The frame 512 has a central or main section 512M, and lateral sections 512S on opposite sides of the central section 512M. The lateral sections 512S are movable with respect to the central section. As illustrated in Fig. 10B, the lateral section 512S are pivotally connected to the main section 512M. A pivot 514P is defined between an end frame member 515 of the lateral section 512S and an end frame member 515 of the main section 512M. As shown, the lateral section 512S may be coupled to the main section 512M by a single pivot 514P, though other possibilities may be contemplated. An actuation unit may include at least one actuator to deploy and retract the lateral sections 512S relative to the main section 512M. The lateral sections 512S cane be retracted, here by gaining a raised position relative to the main section 512M, so as to reduce the width of the frame 512 for storage, maintenance or non-use state, to limit the footprint of the frame 512 when not in use.

[0102] The frame 512 has base frame members 514 forming the main structure of the frame 512. The base frame members 514 of the respective main section 512M and lateral sections 512S are mounted to respective end frame members 515 (or end frame member sections). The frame 512 includes mounting interface 511 similar as the mounting interface 11 described above. Support beams 513 are connected to the base frame members 514 and may support one or more robotic modules 20, 320. The support beams 513 are segmented longitudinally so as to define separate beam sections. Some of the beam sections 513S are articulated to move from a deployed position to a retracted position. The support beams 513 overhang the clearance 516. The support beams 513 are held by the main frame members 514, extending from the end frame member 515. The main frame members 514 are cantilevered from the end frame member 515. Components of the controllers 30 and the PMS 40 may be mounted to the frame 512, as similarly described above with respect to other embodiments.

[0103] A stand 518 is present to support the frame 512. The stand 518 includes a wheel 518W that is actuatable with respect to the frame 512. A base 518B of the stand 518 is mounted to an end frame member 515 of the frame 512. In the embodiment shown, an arm 518C supports the wheel 518W and is pivotally mounted to the base 518B. An actuator 519 is mounted to the arm 518C. Actuation of the actuator 519 may move the wheel 518W on the arm 518C to move between a ground engagement position and a retracted position. In the ground engagement position, the wheel 518W may engage the ground surface to support at least part of the weight of the frame 512 (instead of having the frame 512 hovering suspended above the ground surface). In the retracted position, the wheel 518W may be lifted from the ground, whether or not clearing the clearance 516 under the frame 512. The stand 518 may be positioned along the end frame member 515 so as to align with the ground engaging means of the prime mover (e.g., wheels, tracks, ...). The actuator 519 may be a hydraulic actuator, though other types of actuators could be contemplated (e.g., pneumatic, electric, ...). In a variant, the base 518B could be optional, with the arm 518C mounted directly on the end frame member 515, for example. The actuator 519 may be mounted to the frame 512 (e.g., end frame member 515) instead of the base 518B, for example. While Fig. 10A shows only one stand 518, there may be a plurality of such stands 518 (e.g., at least one aligned with each of the ground engaging means of the prime mover).

[0104] According to the present disclosure, a method for operating the weed removal system 10 is now described. In operation, the system 10, through its detection unit 27, 327, captures images of a ground surface in a detection area as the weed removal system 10 moves relative to the ground surface. A mapping of positions on the ground surface in the detection area is performed as the system 10 moves relative to the detection area and / or ground surface. A pairing of an image feed including the captured images with position data from the mapping is performed and image processing of the image feed allows to detect one or more weeds in the detection area. Position data and the detected weeds are associated (e.g., by data processing at the controller(s) 30, 41). A displacement of the end effector 21 , 321 from its elevated position to a down position in the detection area is performed according to the position data associated with thedetected weeds. All this may occur while the weed removal system 10 hovers above the detection area. The displacement of the end effector 21 , 321 may include an alignment of the end effector 21 , 321 in a common plane relative to at least one of the positions mapped. Such alignment may be performed by displacing the end effector 21 , 321 in a direction transverse relative to a motion direction (e.g., direction X described above) of the weed removal system 10. The end effector 21 , 321 may grip one of the weeds detected (if a gripper 211 is used) while the end effector 21 , 321 is in the down position. The gripping may include the pulling ofthe targeted weed. In some instances where the end effector21 , 321 includes a needle as described above, the needle may penetrate the ground surface to damage one ofthe one or more weeds detected and / or loosen soil at a base of that weed. In some embodiments, a load induced at the end effector 21 , 321 by the ground surface upon contact on the end effector 21 , 321 in the down position can be detected and / or monitored.

[0105] In orderto displace the end effector21 , 321 , an actuation unit 26, 326, which may include a plurality of actuators 26A, 26B, 326A, 326B can be actuated and can cooperate to provide a motion of the end effector 21 , 321 in respective planes to reach the down position. The end effector 21 , 321 can be displaced according to a plurality of serial displacement sequences. For example, a first displacement sequence as described above can be performed, then a subsequent, second displacement sequence can be initiated. Such second sequence can be initiated after the end effector 21 , 321 returns to its elevated position, though this is optional. The second sequence can be initiated without having the end effector 21 , 321 returning to its elevated position. A subsequent displacement trajectory of the end effector 21 , 321 can thus be done between the elevated position and the down position in the detection area according to at least another one of the position data associated with the one or more weed detected. The system 10 may generate its own power to supply its to its various components. For example, in operation, power can be generated from a solar panel. It may also be generated by interfacing with the hydraulic system of the prime mover by another types of power generator 43. The generated power can be stored in the energy storage 32 of the system 10 or can be used to supply power, without prior storage.

Claims

CLAIMS1 . A robotic module of a weed removal system, comprising: a mounting interface adapted to support the robotic module on a frame of the weed removal system; an end effector displaceable between an elevated position and a down position; an actuation unit drivingly engaged to the end effector to cause a displacement of the end effector between the elevated position and the down position; a detection unit for capturing images of a ground surface and for monitoring a position of the weed removal system relative to a detection area moving relative to the weed removal system; a controller including a processing unit, and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for receiving the images and position data from the detection unit, processing the images to detect the presence of one or more weeds in the detection area, associating one or more of the position data received from the detection unit to the one or more weeds in the detection area, and driving a displacement of the end effector to the down position so as to reach the one or more weeds.

2. The robotic module of claim 1 , wherein the detection unit includes an imaging device and a position sensor, the position sensor adapted to measure a field depth in the detection area.

3. The robotic module of claim 2, wherein the position sensor includes a laser imaging detection and ranging module.

4. The robotic module of any one of claims 2 and 3, wherein the imaging device includes a camera.

5. The robotic module of any one of claims 1 to 4, wherein the detection unit includes a load sensor to sense a load applied onto the end effector.

6. The robotic module of claim 5, wherein the load sensor is embedded in a drive of the actuation unit, the load sensor sensing a torque, a torque variation, or a voltage / current level corresponding to the torque or the torque variation.

7. The robotic module of any one of claims 5 and 6, wherein the computer-readable program instructions are executable by the processing unit for receiving a signal indicative of a contact with the end effector within the detection area.

8. The robotic module of any one of claims 1 to 7, wherein driving the displacement of the end effector includes aligning the end effector in a common plane with one of the one or more weeds detected.

9. The robotic module of any one of claims 1 to 8, wherein the end effector includes a gripper configured to grip a weed, the gripper actuatable between a release position and a gripping position, the gripper including a plurality of gripping members, at least one gripping member of the plurality of gripping members is actuatable to cause a displacement of the at least one gripping member towards the gripping position whereby a gripping force is exerted between the plurality of gripping members.

10. The robotic module of any one of claims 1 to 8, wherein the end effector includes a needle to penetrate a ground surface of the detection area when the end effector gains the down position.11 . The robotic module of any one of claims 1 to 10, wherein the actuation unit includes a plurality of actuators, each actuator causing a linear displacement of the end effector in respective planes.

12. The robotic module of claim 11 , wherein one of the respective planes is a plane having a travel motion of the weed removal system normal thereto.

13. The robotic module of any one of claims 11 and 12, wherein the plurality of actuators includes electric motors.

14. The robotic module of any one of claims 1 to 13, further comprising a guide rail, and a holder mounted to the guide rail, the holder operatively engaged to the actuation unit for displacing the holder along the guide rail, the guide rail guiding a linear displacement of the holder.

15. The robotic module of claim 14, wherein the end effector includes a rod connected to the holder, the rod is displaceable in translation relative to the holder, the rod causing a linear displacement of the end effector from the elevated position to the down position.

16. The robotic module of claim 15, wherein the holder includes guiding elements engaged to the rod to guide the rod as the rod is displaced relative to the holder.

17. A weed removal system for detecting and removing weeds in a detection area in relative displacement with the weed removal system, comprising: a frame supported above a ground surface to define a clearance between the frame and the ground surface, the frame displaceable along the ground surface above the detection area; and at least one robotic module of any one of claims 1 to 16, the at least one robotic module mounted to the frame.

18. The weed removal system of claim 17, further comprising a power management subsystem for controlling power supplied to the at least one robotic module, the power management subsystem includes an energy storage.

19. The weed removal system of any one of claims 17 and 18, wherein the power management subsystem includes a power generator to generate power for storing energy and / or supply power to the at least one robotic module.

20. The weed removal system of claim 19, wherein the power generator includes at least one of a hydraulic alternator for interfacing with a hydraulic system of a prime mover and a solar panel.

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