Weed removal tool

Abstract

A weed removal tool includes a body, a plurality of wheels coupled to the body, a prime mover supported by the body, and a controller configured to operate the prime mover to directly or indirectly rotate at least some wheels of the plurality of wheels to move the weed removal tool along a surface of a field. An imaging device is coupled to the body and in communication with the controller, the imaging device configured to capture images of a portion of the surface. A weeding assembly is coupled to the body and includes a frame, a cutting assembly coupled to the frame and having a blade configured to rotate to cut weeds, and an actuator coupled to the frame and configured to adjust a position of the cutting assembly based at least in part on the images.

Description

Attorney Docket No. 218836-0006-W001WEED REMOVAL TOOLCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 713,963, filed October 30, 2024, the entire contents of which are incorporated herein by reference.FIELD

[0002] The present disclosure relates to agricultural equipment such as farming equipment for cutting weeds.SUMMARY

[0003] In some aspects, a weed removal tool includes a body, a plurality of wheels coupled to the body, a prime mover supported by the body, and a controller configured to operate the prime mover to directly or indirectly rotate at least some wheels of the plurality of wheels to move the weed removal tool along a surface of a field. An imaging device is coupled to the body and in communication with the controller, the imaging device configured to capture images of a portion of the surface. A weeding assembly is coupled to the body and includes a frame, a cutting assembly coupled to the frame and having a blade configured to rotate to cut weeds, and an actuator coupled to the frame and configured to adjust a position of the cutting assembly based at least in part on the images.

[0004] In some aspects, a weed removal tool assembly includes a frame, a cutting subassembly coupled and movable with respect to the frame and including a blade and a motor configured to rotate the blade, and a first actuator configured to move the cutting subassembly along a first axis in response to images of a portion of a field over which the cutting subassembly, during operation, will travel. A second actuator is configured to move the cutting subassembly along a second axis generally perpendicular to the first axis in response to the images.Attorney Docket No. 218836-0006-W001

[0005] In some aspects, a weed removal tool configured to autonomously move over a field surface includes an image processing subassembly configured to capture images of portions of the field surface as the weed removal tool moves thereover. A cutting subassembly includes a plurality of actuators and at least one motorized cutting blade. Each actuator of the plurality of actuators is configured to receive signals from the image processing subassembly based at least in part on the images and to adjust the position of the at least one motorized cutting blade in response.

[0006] Other examples, embodiments, features, and aspects will become apparent by consideration of the detailed description and accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] FIG. 1 is perspective view of a weed removal tool including a cutting assembly.

[0008] FIG. 2 is another partially exploded perspective view of the weed removal tool ofFIG. 1.

[0009] FIG. 3 A is a top and side perspective view of the weed removal tool of FIG. 1.

[0010] FIG. 3B is a bottom and side perspective view of the weed removal tool of FIG. 1.

[0011] FIG. 3C is a bottom view of the weed removal tool of FIG. 1 showing an alternative location of imaging equipment.

[0012] FIG. 4 is an end perspective view of the weed removal tool of FIG. 1.

[0013] FIG. 5 is a perspective view of partial subassembly of a supporting frame of the weed removal tool of FIG. 1.

[0014] FIG. 6 is another perspective view of the partial subassembly of FIG. 5 with additional components.

[0015] FIG. 7 is a perspective view of a cutting assembly for use in the weed removal tool of FIG. 1.Attorney Docket No. 218836-0006-W001

[0016] FIG. 8A is another perspective view of the cutting assembly of FIG. 7.

[0017] FIG. 8B is an exploded view of the cutting assembly of FIG. 8A.

[0018] FIG. 9 is a closeup perspective view of a portion of the cutting assembly of FIG. 7.

[0019] FIG. 10 is a perspective view of another cutting assembly for use in the weed removal tool of FIG. 1.

[0020] FIG. 11 is a perspective view of another cutting assembly for use in the weed removal tool of FIG. 1.

[0021] FIG. 12 is a perspective view of the cutting assembly of FIG. 11 further including a shroud.

[0022] FIG. 13 is another perspective view of the cutting assembly of FIG. 12.

[0023] FIG. 14 is a side view of the cutting assembly of FIG. 12.

[0024] FIG. 15 is a side view of a cutting assembly including a spraying assembly for use in the weed removal tool of FIG. 1.

[0025] FIG. 16 is a perspective view of another spraying assembly for use in the weed removal tool of FIG. 1.

[0026] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of supporting other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.Attorney Docket No. 218836-0006-W001DETAILED DESCRIPTION

[0027] FIGS. 1-4 illustrate a weed removal tool 10. The weed removal tool 10 includes a body 14. The body 14 defines a first side 18 (also referred to as a front side 18) and a second side 22 (also referred to as a rear side 22) opposite the first side 18. The body 14 can include and enclose a battery (not shown), a drive motor (not shown) connected to the battery to receive power, and a controller 26 (shown in FIG. 15). The drive motor can be referred to as a first motor and may be a subset of a possible prime mover that can move the weed removal tool over a field or other surface. The controller 26 can control operation of the drive motor and / or other features of the weed removal tool 10. The weed removal tool 10 can include one or more solar cells or panels 30 to charge the battery, mounted to an upper surface of the body 14. The weed removal tool 10 includes a plurality of arms 34 coupled to the body 14. Each arm 34 extends from a comer of the body 14. The arms 34 can be evenly spaced around the body 14. In some embodiments, the arms 34 can be coupled together. The illustrated weed removal tool 10 includes four arms 34. In other embodiments, the weed removal tool 10 can include fewer or more arms 34 (e.g., two, three, five, etc.).

[0028] The weed removal tool 10 includes a plurality of wheel assemblies 38. Each wheel assembly 38 is coupled to one arm 34. More specifically, each wheel assembly 38 is coupled to an end of a respective arm 34 opposite the body 14. As such, each arm 34 is positioned between the body 14 and a respective wheel assembly 38. Some or all of the wheel assemblies 38 can be rotated by the drive motor (or other prime mover) to directly or indirectly move the weed removal tool 10 along a ground or field surface. In other embodiments, two or more wheels may be driven by a dedicated motor or motors, e.g., electric, hydraulic, etc., for motorized traction. In yet other embodiments, the weed removal tool is passively towed, and as an example, each illustrated wheel assembly 38 is simply a caster wheel. The wheel assemblies 38 are configured to support movement of the weed removal tool 10 along the field surface, with the first side 18 at the front (i.e., as the leading side). In other embodiments, some or all of the wheel assemblies 38 can be different types of wheels (e.g., fixed wheels, omni-wheels, etc.) in different combinations as suitable for the intended surface or control scheme.Attorney Docket No. 218836-0006-W001

[0029] The weed removal tool 10 can include an indicator or indicators 42. The indicator 42 can improve the visibility of the weed removal tool 10 and provide operational status. The indicator 42 can be coupled to the first side 18 of the body 14. The indicator 42 can be illuminated in one or more colors (e.g., red, yellow, green, white, etc.) when the weed removal tool 10 is powered on and / or moving. The indicator 42 can additionally or alternatively emit noise.

[0030] With continued reference to FIGS. 1-4, the weed removal tool 10 includes a weeding assembly 46. The weeding assembly 46 extends from the second side 22 of the body 14. As such, the weeding assembly 46 is located at the back or the rear of the weed removal tool 10 as the weed removal tool 10 is moving along a surface in a forward or primary direction. The weeding assembly 46 includes a weed removal portion 50. The weed removal portion 50 can include one or more cutting assemblies 54 and / or one or more spraying assemblies 58 as subassemblies (shown in FIG. 15). Each cutting assembly 54 is configured to physically chop or cut weeds. Each spraying assembly 58 (shown in FIG. 15) is configured to spray or dispense a liquid (e.g., herbicide) onto weeds. In some embodiments, cutting and spraying are combined into one subassembly of the weed removal portion 50, as shown in FIG. 16.

[0031] With specific reference to FIGS. 3A-3C, the weed removal tool 10 can include an imaging device 60. The imaging device 60 is configured to capture images or video of the surface (and plants or vegetation growing in the surface) upon which the weed removal tool 10 moves. The controller 26 (shown in FIG. 15) can use the captured images to identify weeds (undesirable plants) among the plants growing in the surface, i.e., through image and data processing techniques not described herein, the controller 26 can identify which plants are weeds and which plants are the desired crop (e.g., soybeans, strawberries, or any other farmed crop). The controller 26 can then instruct a cutting assembly 54 to cut or otherwise engage the weeds and / or the spraying assembly 58 to spray the weeds.

[0032] The imaging device or devices 60 are positioned forward of the weeding assembly 46. Stated another way, the imaging devices 60 are positioned closer to the first side 18 of the body 14 than the weeding assembly 46. As such, the imaging devices 60 can capture images of a portion of the surface prior to the weeding assembly 46 moving over the surface. This permitsAttorney Docket No. 218836-0006-W001 the controller 26 to process and analyze the images and thereby instruct the weeding assembly 46 to engage any weeds without or with minimal disruption to the travel velocity or path of the tool 10. In Figs. 3 A and 3B, the illustrated weed removal tool 10 includes two imaging devices 60 on an underside of the body 14. In Fig. 3C, the illustrated weed removal tool 10 includes imaging devices 60 positioned on an underside of an attachment system 68, described further herein. In other embodiments, the weed removal tool 10 can include any suitable number of imaging devices 60 (e.g., one, three, four, etc.) located anywhere on the weed removal tool 10 to properly capture images of the surface and the plants growing in the surface.

[0033] With continued reference to FIGS. 3A-3C, the weeding assembly 46 includes a frame 62. The frame 62 includes a connection portion 66. The connection portion 66 is coupled to the second side 22 of the body 14. The connection portion 66 is fixed relative to the body 14. The weeding assembly 46 includes a plurality of actuators. The plurality of actuators is configured to adjust the position of the weed removal portion 50.

[0034] With reference to FIG. 5, the plurality of actuators includes a first actuator 70 (also referred to as a vertical actuator 70). The first actuator 70 is configured to move the weed removal portion 50 in the direction of a first axis 74 (shown in FIG. 4). The first axis 74 can be defined perpendicular or normal to the surface upon which the weed removal tool 10 moves. The first axis can be a vertical axis. The first actuator 70 is coupled to the connection portion 66 and an intermediate portion 78 (shown in FIG. 6) of the frame 62. More specifically, a first end of the first actuator 70 is coupled to the connection portion 66 and a second end of the first actuator 70 is coupled to the intermediate portion 78. The first actuator 70 is adjustable to move the intermediate portion 78 relative to the connection portion 66. The illustrated weeding assembly 46 includes two first actuators 70 connected to the intermediate portion 78. The first actuators 70 are configured to move in parallel. Stated another way, each first actuator 70 moves in an identical pattern or fashion. Each illustrated first actuator 70 is a hydraulic actuator. In other embodiments, each first actuator 70 can be a different type of actuator that is suitable to move the intermediate portion 78 relative to the connection portion 66 (e.g., mechanical actuator, pneumatic actuator, piezoelectric actuator, etc.).Attorney Docket No. 218836-0006-W001

[0035] With returned reference to FIG. 4, the plurality of actuators includes a second actuator 82 (also referred to as a horizontal actuator 82). The second actuator 82 is configured to move the weed removal portion 50 along a second axis 86. The second axis 86 is perpendicular to the first axis 74 and generally parallel with the surface upon which the weed removal tool 10 moves. The second axis 86 can be a horizontal or lateral axis, and the aforementioned primary direction is perpendicular to axes 74, 86. The second actuator 82 is coupled to the weed removal portion 50 and the intermediate portion 78. More specifically, the second actuator 82 is coupled to the weed removal portion 50 and a side of the intermediate portion 78 opposite the first actuator 70. The second actuator 82 is configured to move the weed removal portion 50 relative to the intermediate portion 78. The illustrated weeding assembly 46 includes two second actuators 82. Each second actuator 82 is connected to a cutting assembly 54 and / or a spraying assembly 58 (or in some embodiments, each or one of the two second actuators 82 is coupled to an assembly having both cutting and spraying functions as shown in FIG. 16). Each second actuator 82 can move the respective cutting assembly 54 and / or spraying assembly 58 independently. Stated another way, one second actuator 82 can move in a different pattern than another second actuator 82. In application, the second actuators 82 can cooperate to most effectively position both assemblies 54, 58 laterally or along the axis 86 to engage a weed or undesirable vegetation or to selectively spray a weed or surface area. Each illustrated second actuator 82 is a mechanical actuator powered by an actuator motor 90, e.g. a screw mechanism. In other embodiments, each second actuator 82 can be a different type of actuator that is suitable to move a cutting assembly 54 and / or a spraying assembly 58 relative to the intermediate portion 78 (e.g., hydraulic actuator, pneumatic actuator, piezoelectric actuator, etc.).

[0036] It should be appreciated that the plurality of actuators can include additional actuators. For example, the plurality of actuators can include a third actuator (not shown) configured to move the weed removal portion 50 along a third axis (not shown). The third axis can be perpendicular to the first axis 74 and the second axis 86. The third axis can be parallel with the movement direction of the weed removal tool 10.

[0037] With reference to FIG. 6, the intermediate portion 78 includes a first mounting portion 94 and a second mounting portion 98. Each first actuator 70 is coupled to the first mounting portion 94. Each second actuator 82 is coupled to the second mounting portion 98.Attorney Docket No. 218836-0006-W001The first mounting portion 94 is connected to a linkage 72 which connects the connecting portion 66 with the weed removal portion 50. An additional linkage 76 also connects the connecting portion 66 with the weed removal portion 50, forming a 4-bar linkage. As illustrated, the 4-bar linkage is a parallel guiding mechanism that allows the weed removal portion 50 to maintain its vertical orientation as the actuators 70 cause it to move up and down relative to the connecting portion 66. As such, movement in the direction of first axis 74 includes a component of arcing motion, as linkage 76 is pivotally connected to connection portion 66, the effect of which would be understood by one of ordinary skill in the art as applied to the directional motion and motion along axes described herein. It should be appreciated that the linkages can be configured in size and number to allow different motion of the weed removal portion 50 relative to connecting portion 66. Attachment system 68 is coupled to connection portion 66 and extends away from the connecting portion 66 toward the second mounting portions 98. Attachment system 68 may be in the form of a plate or other suitable extension and includes apertures of various shapes, sizes, and positions that allow various items to be attached to connecting portion 66, such as cameras, other sensors, tanks, pumps, valves, hoses, trailers, and / or additional equipment. Referring to FIG. 3C, the imaging system 60 is attached to the bottom of attachment system 68. Although shown primarily at the distal end, mounting apertures or other structure to facilitate component attachment may be located anywhere on the attachment system 68. The intermediate portion 78 may include a clamp that can be adjusted to move the second mounting portions 98 relative to the rest of the intermediate portion 78. In other embodiments, the intermediate portion 78 can include more clamps (e.g., two, three, etc.) to adjust frame members of the intermediate portion 78.

[0038] With returned reference to FIG. 4, each cutting assembly 54 includes a shaft 106, a motor 110 (also referred to as a cutting motor 110 or a second motor 110), and a hub with a blade 114. Each shaft 106 is coupled to a respective second actuator 82. The position of each shaft 106 can be adjusted along the axis 86 in the manner previously described. Each motor 110 is coupled to a respective shaft 106 and defines a rotational axis 118. Each rotational axis 118 is defined generally perpendicular to the surface upon which the weed removal tool 10 moves along. As such, each rotational axis 118 is generally parallel with the first axis 74. Each motor 110 can receive power from the battery in the body 14 by cords or wires (similar to the wires 630Attorney Docket No. 218836-0006-W001 in FIG. 16). Each motor 110 rotates the respective blade 1 14 about the rotational axis 1 18 to cut weeds.

[0039] FIGS. 7-9 illustrate another embodiment of a cutting assembly 154 for use in the weed removal portion 50 of the weed removal tool 10. The cutting assembly 154 includes similar components as the cutting assembly 54. Components in the cutting assembly 154 are labeled the same as like components in the cutting assembly 54 plus a value of one hundred. For brevity, only differences between the cutting assembly 154 and the cutting assembly 54 are described herein. It should be appreciated that the cutting assembly 154 can include any components, features, or function as described with reference to the cutting assembly 54. Similarly, it should be appreciated that the cutting assembly 54 can include any components, features, or function as described with reference to the cutting assembly 154.

[0040] With reference to FIGS. 7 to 8B, the cutting assembly 154 includes a bracket 158, a motor 210, two blades 214, and a spacer 222. The motor 210 is coupled to the bracket 158. The bracket 158 can be coupled to the shaft 106 (shown in FIG. 4) to couple the cutting assembly 154 to the frame 62. The motor 210 includes a drive shaft 224. The drive shaft 224 extends through and is coupled to the blades 214 and the spacer 222. The drive shaft 224 includes one or more key ways 228 that run along the length of the shaft. The blades 214 include one or more teeth 229 configured to fit into keyways 228 so the blades 214 rotate with the drive shaft 224 when it rotates. In alternative embodiments, the blade 214 is rotationally coupled to the drive shaft 224 in other ways, such as by a key that fits into both the keyway 228 and a corresponding cutout on blade 214; one or more set screws that hold the position of each blade 214 relative to the respective drive shaft 224; or welding the blades 214 to the drive shaft 224. Alternatively, the blades 214 can be fixed to an intermediary structure that then couples to the drive shaft 224, thereby rotationally coupling the blades 214 and the drive shaft 224. In some embodiments, the drive shaft 224 can be coupled to a secondary shaft, which is coupled to the blades 214 and the spacer 222. It should be appreciated that in these embodiments, the drive shaft 224 can be referred to as including the secondary shaft. The drive shaft 224 defines a rotational axis 218. The rotational axis 218 is generally parallel with the surface upon which the weed removal tool 10 moves. As such, each rotational axis 218 is generally parallel with the second axis 86 (shown in FIG. 4). The blades 214 are coupled to opposite sides of the spacer 222. The spacer 222Attorney Docket No. 218836-0006-W001 separates the blades 214 to increase a cutting area or span of the cutting assembly 154. The illustrated spacer 222 is a cylinder. The spacer 222 provides a smooth surface to, for example, prevent weeds from being stuck to the spacer 222. In other embodiments, the spacer 222 can have any suitable shape to space apart the blades 214. The spacer 222 is illustrated as hollow, such that the interior of the spacer 222 is accessible on each side of the blades 214. It should be appreciated that in other embodiments, the spacer 222 can be solid or have a greater thickness, such that the interior of the spacer 222 is not accessible on each side of the blades 214. The blades 214 may be angularly or rotationally offset from each other, and in the illustrated embodiment, the blades 214 are offset by sixty degrees relative to the rotational axis 218. In other embodiments, the blades 214 can be rotationally offset by any suitable angle, such as 45 or 90, or they need not be offset (generally at least 45 degrees). The motor 210 rotates the two blades 214 about the rotational axis 218 to cut weeds. The motor 210 can be selectively rotated by the controller 26 (shown in FIG. 15) or a secondary controller of the weed removal tool 10 in communication therewith, to cut weeds, which is described in further detail below.

[0041] With reference to FIG. 9, each blade 214 has a cutting edge 226 and an opposite trailing edge 230. Each cutting edge 226 can come to a point or sharp edge. Each cutting edge 226 is configured to make contact with the weeds to cut the weeds. Each trailing edge 230 is wider than the associated cutting edge 226, such that a width of each blade 214 increases from the cutting edge 226 to the trailing edge 230. The width increase between the cutting edge 226 and the trailing edge 230 can be linear or non-linear. The width increase (or shape of the blade 214) provides structural support to each blade 214. For example, if a blade 214 impacts a rock or any other hard material, the shape of the blade 214 hinders the blade 214 from fracturing or breaking.

[0042] It should be appreciated that there are many acceptable styles of blade design. FIGS. 7-9 and 11-16 show a 6-bladed design. Each of the blades 214 have six arms (with cutting edges on one side and trailing edges on the opposing side) arranged around the opening 227 through which the drive shaft 224 passes and with the cutting edges 226 configured to travel the same direction around the opening 227 (shown in FIG. 8B) (so they collectively engage in weed cutting). Each blade arm 215, 216, and 217 of the blades 214 is either on the same plane as or flush with the center 225 portion of blades 214 or angled to one side or the other of the centerAttorney Docket No. 218836-0006-W001225. Blade arm 215 is flush with center 225 and is 180 degrees opposite another blade arm 215; blade arm 216 is angled to one side of center 225 opposite another blade arm 216; and blade arm 217 is angled to the opposite side of center 225 and opposite another blade arm 217. As shown in FIGS 1-4 and 10, the blades 114 are configured with four individual blade arms 15 arranged around center 25 with the cutting edges 226 configured to travel the same direction around center 25, all of which are flush with center 25. Alternative designs can include any number of blades at any angle relative to the center and with the cutting edges that travel the same direction and / or opposite directions around the center. For example, a 2-bladed design may be made from a thin prismatic rectangle with opposing long sides, opposing short sides, with the blade relatively thin between the base faces, and where the opening goes through the center of the base faces and one long side is formed into a cutting edge. This creates a scenario in which a portion of the cutting edge rotates in the opposite direction from the rest of the cutting edge, allowing the blade to cut while being spun in either direction around the center. Furthermore, the opposing long side and / or one or both of the short sides can be formed into a cutting edge. This approach can be taken on a variety of shapes to create blades with any number of blades arms, such as a thin prism with other numbers and relative lengths of sides, or less prismatic shapes, which can be balanced around a center of rotation and one or more cutting edges.

[0043] FIG. 10 illustrates another embodiment of a cutting assembly 254 for use in the weed removal portion 50 of the weed removal tool 10. The cutting assembly 254 includes similar components as the cutting assemblies 54, 154. Components in the cutting assembly 254 are labeled the same as like components in the cutting assembly 54 plus a value of two hundred and like components in the cutting assembly 154 plus a value of one hundred. For brevity, only differences between the cutting assembly 254 and the cutting assemblies 54, 154 are described herein. It should be appreciated that the cutting assembly 254 can include any components, features, or functions as described with reference to the cutting assemblies 54, 154. Similarly, it should be appreciated that the cutting assemblies 54, 154 can include any components, features, or functions as described with reference to the cutting assembly 254.

[0044] With continued reference to FIG. 10, the cutting assembly 254 includes a bracket 258, a motor 310, a drive 312, four blades 314, and two spacers 322. The motor 310 is coupled to the bracket 258. The bracket 258 is coupled to the shaft 106 to couple the cutting assembly 254 toAttorney Docket No. 218836-0006-W001 the frame 62. The drive 312 includes a belt 326, a first pulley or gear (not shown), and a second pulley or gear 330. Two blades 314 and one spacer 322 are positioned on each side of the second pulley 330. The second pulley 330 is operably coupled to each blade 314 and each spacer 322. The illustrated cutting assembly 254 includes a secondary shaft 334. The secondary shaft 334 extends through each blade 314, each spacer 322, and the second pulley 330 to couple the second pulley 330 to the blades 314 and spacers 322. The motor 310 is coupled to the first pulley and rotates the first pulley about a first rotational axis 318. Rotation of the first pulley rotates the belt 326. Rotation of the belt rotates the second pulley 330 about a second rotational axis 338. The blades 314 and the spacers 322 rotate with the second pulley 330. Accordingly, rotation of the motor 310 causes the blades 314 to rotate about the second rotational axis 338.

[0045] FIGS. 11-14 illustrate another embodiment of a cutting assembly 354 for use in the weed removal portion 50 of the weed removal tool 10. The cutting assembly 354 includes similar components as the cutting assemblies 54, 154, 254. Components in the cutting assembly 354 are labeled the same as like components in the cutting assembly 54 plus a value of three hundred, like components in the cutting assembly 154 plus a value of two hundred, and like components of the cutting assembly 254 plus a value of one hundred. For brevity, only differences between the cutting assembly 354 and the cutting assemblies 54, 154, 254 are described herein. It should be appreciated that the cutting assembly 354 can include any components, features, or functions as described with reference to the cutting assemblies 54, 154, 254. Similarly, it should be appreciated that the cutting assemblies 54, 154, 254 can include any components, features, or functions as described with reference to the cutting assembly 254.

[0046] With reference to FIG. 11, the cutting assembly 354 includes a bracket 358, a motor 410, six blades 414, and three spacers 422. The bracket 358 is coupled to the shaft 106 to couple the cutting assembly 354 to the frame 62. The motor 410 includes a drive shaft 424 defining a rotational axis 418. Each blade 414 and spacer 422 is coupled to the drive shaft 424, with two blades 414 on each side of each spacer 422. Rotation of the motor 410 causes each blade 414 and spacer 422 to rotate about the rotational axis 418 to cut weeds.

[0047] With reference to FIGS. 12-14, the cutting assembly 354 can include a shroud 426 coupled to the shaft 106. The shroud 426 can partially cover the blades 414 to inhibit large itemsAttorney Docket No. 218836-0006-W001 from being contacted by the blades 414. The shroud 426 can extend past a front end of the cutting assembly 354. Stated another way, the shroud 426 can extend past the cutting assembly 354, such that the blades 414 are positioned between the shroud 426 and the second side 22 of the body 14 (shown in FIG. 2). The shroud 426 and the surface upon which the weed removal tool 10 moves can define a gap 430 therebetween. The shroud 426 can inhibit items larger than the gap 430 from being contacted by the blades 414. In other embodiments, the shroud 426 may extend past a rear end of the cutting assembly 354 to minimize the spread of cut material as well as to inhibit unwanted blade contact.

[0048] FIG. 15 illustrates a weed removal portion 50 including the spraying assembly 58 and the cutting assembly 354. The spraying assembly 58 includes a tank 510, a hose 514, one or more nozzles 518, and a pump 522. The tank 510 contains or holds a liquid (e g., herbicide).The tank 510 can be positioned within the body 14 or coupled to the body 14 or any other suitable portion of the weed removal tool 10. The hose 514 is fluidly connected to the tank 510 and the nozzles 518. The pump 522 is configured to move the liquid from the tank 510, through the hose 514, and out the nozzles 518. The pump 522 can be connected to the battery by cords or wires (similar to the wires 630 in FIG. 16) to receive power from the battery. The pump 522 can include a valve to selectively restrict flow of liquid through the hose 514. In some embodiments, the valve can be external from the pump 522. The pump 522 (with the valve) can be controlled by the controller 26 (or a secondary controller, as noted), which is described in further detail below.

[0049] With continued reference to FIG. 15, each nozzle 518 is positioned close to the surface upon which the weed removal tool 10 moves. As such, each nozzle 518 is positioned close to any weeds to improve the accuracy of spraying the liquid onto weeds or onto the surface for weed control. The illustrated nozzles 518 are coupled to the shroud 426 of the cutting assembly 354. In other embodiments, the nozzles 518 can be coupled to the shaft 106 or any other suitable portion of the weed removal tool 10 to accurately spray the liquid onto weeds. In other words, a spraying assembly can be independent of a cutting assembly and positioned via actuators 70, 82, in the same manner as a cutting assembly or as a combined cutting and spraying assembly. The illustrated spraying assembly 58 includes four nozzles 518. In otherAttorney Docket No. 218836-0006-W001 embodiments, the spraying assembly 58 can include any suitable number of nozzles 518 to spray the liquid onto weeds.

[0050] FIG. 16 illustrates another combined spraying and cutting assembly 558 for use in the weed removal portion 50 of the weed removal tool 10. It should be appreciated that the assembly 558 can include any components, features, or functions as described with reference to previously described and illustrated cutting assemblies and spraying assemblies.

[0051] With continued reference to FIG. 16, the cutting portion of the assembly 558 may be the cutting assembly 54, the cutting assembly 154, the cutting assembly 254, the cutting assembly 354, etc.). The spraying portion of the assembly 558 includes an inlet hose, an outlet hose 614, one or more nozzles 618, and a pump or pump and motor assembly 622. The hose 614 is secured to the shaft 106 with a fastener 626. The pump 622 is connected to the battery by cords or wires (not shown) to receive power from the battery and may be a form of transfer pump, including any suitable for use with chemicals.

[0052] As one non-limiting example, the weed removal tool 10 can include the cutting assembly 354 and the spraying assembly 58, as separate or combined assemblies. During operation of this weed removal tool 10, the drive motor actuates the wheel assemblies 38 to move the weed removal tool 10 along, for example, a row of crops. The weed removal tool 10 can be directed along the row by, for example, sensors on the weed removal tool 10 that communicate with the controller 26 for local control and mobility, a global positioning system (GPS), a drone-based guidance system, or any suitable method to direct the weed removal tool 10 along the row. As the weed removal tool 10 moves along the row, the imaging device 60 captures images of the surface of the row and the plants growing in the row. The controller 26 - with processor and associated hardware and software - processes the captured images and differentiates between the desired crop and weeds. Based on that differentiation, the controller 26 moves the cutting assembly 354 and / or the spraying assembly 58 via the first actuator(s) 70 and / or the second actuator(s) 82 such that the cutting assembly 354 and / or the spraying assembly 58 is properly aligned with the weed. In other words, the combination of motion of the tool 10 along the surface with cooperative operation of the actuators 70 and 82 precisely positions the assemblies 354 and / or 58 within a local coordinate system at that location in the row to mostAttorney Docket No. 218836-0006-W001 effectively act on a designated weed, through cutting or spraying. The controller 26 can then activate the motor 410 to rotate the blades 414 to cut the weed, and additionally or alternatively, the controller 26 can activate the pump 522 to spray the weed with the liquid. It should be appreciated that the weed removal tool 10 can repeat this process to remove weeds from an entire row or field of crops.

[0053] The above example was described with reference to the cutting assembly 354 and the spraying assembly 58. However, it should be appreciated that other weed removal tools 10 having different cutting assemblies (e.g., the cutting assembly 54, the cutting assembly 154, the cutting assembly 254, etc.) and / or spraying assemblies (e.g., the spraying assembly 558, etc.) can use the same steps of operation to remove weeds from a row or field of crops or to otherwise treat that surface. For example, although blades 114, 214, 314, and 414 are described, other implements besides blades are contemplated herein for engagement with weeds or surface vegetation, or for engagement directly with the soil surface, e.g., loosening the soil.Additionally, the controller 26 is described as controlling operation of the entire weed removal tool 10. It should be appreciated that the weed removal tool 10 can include more than one controller, such as the secondary controller herein described, that each perform different functions or processes to include vehicle guidance, vehicle motion, image capturing and processing, actuator operation, pump and motor operation, etc. As one non-limiting embodiment, the weed removal tool 10 includes a first controller to analyze captured images, a second controller to control the cutting assembly, and a third controller to control the spraying assembly.

[0054] The use and application of the terms ‘assembly’ and ‘subassembly’ in the claims reflects the nature of grouping certain components herein described, as would be readily understood by the skilled person. To that end, each claim following hereafter further serves as its own disclosed support. Additionally, although the disclosure has been described in detail with reference to preferred implementations, variations and modifications exist within the scope and spirit of one or more independent aspects of the disclosure as described. The present disclosure is intended to provide support for all combinations and sub-combinations of the features, components, assemblies, subassemblies, and variations thereof described and / or illustrated herein, including those not expressly stated as combinations in the specification or drawings. TheAttorney Docket No. 218836-0006-W001 embodiments, features, components, assemblies, and subassemblies described and illustrated herein for the weed removal tool - including but not limited to the body, wheels, prime mover, frame, controlled s), imaging device(s), cutting assembly(ies), spraying assembly(ies), actuators, blades, nozzles, and their respective arrangements - may be combined, rearranged, substituted, omitted, or supplemented in any technically feasible manner. Unless expressly stated otherwise, the various elements disclosed in this specification and drawings are intended to be combinable in any configuration that is directly and unambiguously derivable by the skilled person using common general knowledge, even if not explicitly described herein. Such combinations, modifications, and variations are considered to be within the scope of the disclosure as originally filed.

[0055] Furthermore, the disclosure is intended to support the use of any feature described herein as a fallback position, whether or not such feature is explicitly claimed or described in combination with other features. The use of singular terms (e.g., “a,” “an,” “the”) is not intended to exclude a plurality of such features unless explicitly stated.

[0056] For the avoidance of doubt, the present disclosure is intended to provide basis for amendments, divisional applications, and limitation of claims in accordance with the requirements of the European Patent Convention, including Article 123(2) EPC.

Claims

Attorney Docket No. 218836-0006-W001CLAIMS1. A weed removal tool comprising: a body; a plurality of wheels coupled to the body; a prime mover supported by the body; a controller configured to operate the prime mover to directly or indirectly rotate at least some wheels of the plurality of wheels to move the weed removal tool along a surface of a field; an imaging device coupled to the body and in communication with the controller, the imaging device configured to capture images of a portion of the surface; and a weeding assembly coupled to the body, the weeding assembly including a frame, a cutting assembly coupled to the frame, the cutting assembly having a blade configured to rotate to cut weeds, and an actuator coupled to the frame, the actuator configured to adjust a position of the cutting assembly based at least in part on the images.

2. The weed removal tool of claim 1, wherein the controller is a first controller, and further including a second controller configured to operate the actuator.

3. The weed removal tool of claim 1, wherein the blade is a first blade, and wherein the cutting assembly includes a second blade rotationally offset from the first blade by at least 45 degrees.

4. The weed removal tool of claim 1, further including a spraying assembly coupled to the frame, the spraying assembly having a nozzle configured to spray weeds with a liquid.

5. The weed removal tool of claim 4, wherein the spraying assembly and the cutting assembly are each configured to move independently.Attorney Docket No. 218836-0006-W0016. The weed removal tool of claim 1, wherein the actuator is a first actuator, and wherein the weeding assembly includes a second actuator cooperative with the first actuator to adjust the position of the cutting assembly.

7. The weed removal tool of claim 6, wherein the first actuator is configured to adjust the position of the cutting assembly along a first axis, and the second actuator is configured to adjust the position of the cutting assembly along a second axis generally perpendicular to the first axis.

8. The weed removal tool of claim 1, wherein the weed removal tool is configured such that during operation the portion of the surface is below the frame.

9. The weed removal tool of claim 1, wherein the weed removal tool is configured to travel during operation in a first direction along the surface such that the portion of the surface is, relative to the first direction, ahead of the blade.

10. The weed removal tool of claim 4, wherein the spraying assembly includes a tank configured to hold the liquid, a hose fluidly connected to the tank, the nozzle fluidly connected to the hose, and a pump configured to move the liquid from the tank, through the hose, and out the nozzle.

11. A weed removal tool assembly comprising: a frame; a cutting subassembly coupled and movable with respect to the frame, the cutting subassembly including a blade and a motor configured to rotate the blade; a first actuator configured to move the cutting subassembly along a first axis in response to images of a portion of a field over which the cutting subassembly is configured, during operation, to travel; and a second actuator configured to move the cutting subassembly along a second axis generally perpendicular to the first axis in response to the images.Attorney Docket No. 218836-0006-W00112. The weed removal tool assembly of claim 11, further including a spraying subassembly coupled to the frame, the spraying subassembly including a hose fluidly connected to a tank, a nozzle fluidly connected to the hose, and a pump configured to transfer liquid from the tank, through the hose, and out the nozzle in response to the images.

13. The weed removal tool assembly of claim 12, wherein the cutting subassembly is configured to move independently of the spraying subassembly.

14. The weed removal tool assembly of claim 11, wherein the first and second actuators are configured to receive signals from a controller having a processor in communication with an imaging device positioned on the weed removal tool assembly and configured to capture the images.

15. A weed removal tool configured to autonomously move over a field surface, the weed removal tool comprising: an image processing subassembly configured to capture images of portions of the field surface as the weed removal tool moves thereover; and a cutting subassembly including a plurality of actuators and at least one motorized cutting blade, each actuator of the plurality of actuators configured to receive signals from the image processing subassembly and, based at least in part on the images, adjust the position of the at least one motorized cutting blade.

16. The weed removal tool of claim 15, wherein the cutting subassembly further includes at least two motorized cutting blades, and wherein each actuator of the plurality of actuators is configured to adjust the position of one motorized cutting blade of the at least two motorized cutting blades in response to the signals.Attorney Docket No. 218836-0006-W00117. The weed removal tool of claim 16, wherein each motorized cutting blade of the at least two motorized cutting blades is operative to move independently in response to the signals.

Images