Rotating Finger End Effector for Selective Weed Removal
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Solution Overview
Problem
Current methods for weed control in agricultural fields often rely on herbicides, which can be harmful and inefficient, and existing robotic solutions lack precision in distinguishing between weeds and crops.
Innovation Solution
A mechanical weeding robot equipped with a multi-functional end effector featuring rotatable fingers that can grip, cut, or punch weeds, powered by various means, and capable of autonomous operation with vision modules for precise weed detection and differentiation from crops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If heavy tractors are used to dispense herbicide on all plants, then weed destruction speed is improved, but crop damage and environmental harm increase
Solution Approach 1:
The end effector is divided into multiple independent rotation members (at least two) that can be rotated individually around their own rotation axes. This segmentation allows selective mechanical action on weeds while preserving crops, resolving the contradiction between efficient weed destruction and crop protection.
Solution Approach 2:
The rotation members are positioned at different radial distances from the center of the end effector, with outer rotation members having larger radial distances. This creates different gripping forces and mechanical actions at different locations, enabling selective destruction of weeds while sparing crops through localized mechanical action.
2Adaptability or versatility
If robotic vehicles use combination of mechanical tools and spraying tools, then treatment versatility is improved, but system complexity increases
Solution Approach 1:
The end effector is designed as a multi-functional tool that can perform multiple operations (gripping, cutting, punching) using the same mechanical structure. The rotation members can be configured in different positions and orientations to achieve various treatment modes, eliminating the need for separate spraying tools and reducing overall system complexity.
Solution Approach 2:
The patent merges the functions of multiple treatment tools (mechanical gripping, cutting, and previously spraying) into a single integrated end effector system. By combining these functions into one device, the system achieves treatment versatility while reducing the complexity associated with managing multiple separate tools.
3Productivity
If known robotic vehicles treat all plants without distinction, then treatment speed is improved, but precision and weed-crop differentiation decrease
Solution Approach 1:
The end effector employs dynamic positioning of rotation members that can be rotated to different angles and positions based on real-time detection of weed and crop locations. This dynamic adjustment enables the system to maintain high treatment speed while achieving precise differentiation between weeds and crops through adaptive mechanical action.
Data Source
AI summary
An end effector for a weeding robot is provided, comprising an end effector frame arranged to be connected to a robot arm, a plurality of rotation members, each rotation member being rotatably connected to the end effector frame, and each rotation member being arranged to be rotated around an individual rotation axis, wherein the rotation axes are disposed on a circle, and wherein each rotation member comprises a radially extending finger, of which distal ends extend to a centre of the circle on which the rotation axes are disposed when the end effector is in a closed state.