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WO2015064780A1 - Désherbeuse robotique sans conducteur intelligente - Google Patents

Désherbeuse robotique sans conducteur intelligente Download PDF

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Publication number
WO2015064780A1
WO2015064780A1 PCT/KR2013/009716 KR2013009716W WO2015064780A1 WO 2015064780 A1 WO2015064780 A1 WO 2015064780A1 KR 2013009716 W KR2013009716 W KR 2013009716W WO 2015064780 A1 WO2015064780 A1 WO 2015064780A1
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WO
WIPO (PCT)
Prior art keywords
weeding
unit
main body
sensor
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2013/009716
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English (en)
Korean (ko)
Inventor
송창금
주강식
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DREAM C&G Co Ltd
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DREAM C&G Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DREAM C&G Co Ltd filed Critical DREAM C&G Co Ltd
Publication of WO2015064780A1 publication Critical patent/WO2015064780A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
    • A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B39/00—Other machines specially adapted for working soil on which crops are growing
    • A01B39/12—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
    • A01B39/18—Other machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation

Definitions

  • the present invention relates to an intelligent unmanned weeding robot, more specifically, it can be adjusted by an unmanned remote control method (R / C), as well as to generate an optimal path for obstacle avoidance through onboard geographic information and image recognition.
  • the intelligent unmanned weeding robot that can drive autonomously enables unmanned automatic weeding within a certain range set by the user, which ensures the safety of the worker in bad weather and enables convenient weeding. In addition to preventing workers from being exposed to danger from dust, noise, and debris, a wider range of weeding operations can be completed more conveniently and quickly than conventional manned weeding operations. It relates to an intelligent unmanned weeding robot that can solve the problem.
  • the mowing or mowing device is a mechanism for cutting vegetation (grass) such as grain, grass, young scrub, etc.
  • vegetation grass
  • These mowing and mowing devices are variously proposed and widely used according to the purpose and form of use.
  • a general portable lawn mower includes a power unit carried by a user on the back, a rotary cutter capable of cutting grass or weeds on the ground while rotating by the power of the power unit, and It is for connecting the rotary cutter and the power unit, and the support pipe and the flexible tube of a constant diameter connected to the rotary cutter inclined in the rear upward direction and a handle for the user to grip by hand, and the power of the power unit is transmitted to the rotary cutter inside. It consists of a handle portion provided with a power transmission means.
  • the user performed the mowing operation while holding the handle provided in the middle of the handle part of the lawn mower configured as described above while maintaining the rotary cutter at regular intervals with respect to the ground.
  • a lawnmower in the form of a work machine attached to agricultural machinery such as a tiller or a manager is widely developed and used.
  • Korean Patent Registration No. 10-1219495 (Registration Date: 2013.01.02) has been disclosed for "golf ball collection, weeding remote control robot".
  • the conventional "golf ball collecting, weeding remote control robot 100" as described above is to remotely control the robot to be able to safely handle weed removal even if no manpower, vertical reciprocating motion depending on the weeding operation
  • the controller 180 includes a control unit 180 that controls the vertical reciprocating motion of the weeding unit 120 and the driving and the direction change of the drive unit 40, thereby solving the problem of safety accidents and at the same time significantly reducing the cost of manpower input. To save money.
  • the above-mentioned weeding remote control robot can recognize the wide range of weeding areas in need of the user in advance and operate directly through the remote controller 200, or in a series of command formats through the PLC control panel and motion detection sensor. It has a memory to remember and controls the machine and processor according to the contents of the memory. Such a control method has some effects in general flat land, but it is irregular because autonomous driving that recognizes the external environment is impossible. Not only is it difficult to cope with the terrain, but when the weeding remote control robot performs weeding on the slope, the weeding device is tilted along the slope, and errors and malfunctions occur, which makes it impossible to accurately locate the vehicle. This becomes hard, and many obstacles are disregarded If the place where ever located in the formed weeding, by simply avoiding the obstacle to continue herbicidal action. However, when, due to the obstacle path is changed to the problem was such that the weeding delay.
  • the present invention has been made to solve the above problems, the object of the present invention can be adjusted by an unmanned remote control method (R / C), as well as optimal for obstacle avoidance through onboard geographic information and image recognition.
  • the intelligent unmanned weeding robot that can autonomously drive by creating a path of autonomous robots enables automatic weeding operation within a certain range set by the user, which ensures the safety of workers in bad weather and enables convenient weeding operations.
  • they are able to finish a wide range of weeding operations more conveniently and quickly than conventional manned weeding operations.
  • To provide intelligent unmanned weeding robot that can relieve worker's fatigue caused by will be.
  • the intelligent unmanned weeding robot includes: a main body provided with a wheel capable of traveling; A weeding unit provided with a weeding blade capable of height adjustment up and down; A driving unit which transmits power to the wheels and the weeding blades so that the main body is driven and the weeding blades are rotated; A geographic information mounting unit storing geographic information data necessary for driving the main body; A magnetic location recognizing unit configured to recognize the current location information of the main body by driving the main body by using the geographic information data; A sensor unit including a vision sensor for recognizing an image while driving the main body and an obstacle detecting sensor for detecting an obstacle; A map building unit for recognizing an external environment using the image photographed by the vision sensor and calculating a driving route required for movement of the main body unit; A controller configured to control the main body part, the weeding part, and the driving part to autonomously travel the main body part along the driving path; It is characterized by including.
  • the path planning unit for generating an optimal path for avoiding obstacles using the position information of the obstacle detected by the driving path and the obstacle detection sensor;
  • the control unit may further include controlling the main body unit, the weeding unit and the driving unit such that the main body unit autonomously travels along the path generated by the route planning unit.
  • the control unit is provided with a wireless control means for remotely controlling the main body portion, the weeding portion and the drive unit, the wireless control means, the main body portion, the And a controller for controlling the weeding unit and the driving unit, a wireless controller for transmitting a radio signal to the controller, and a receiver for receiving the radio signal and transmitting the radio signal to the controller.
  • the sensor unit is further provided with a GPS sensor for recognizing the current position of the main body portion in the magnetic position recognition unit, the obstacle sensor is characterized in that the ultrasonic sensor. .
  • the sensor unit is further provided with a tilt detection sensor for detecting the left and right tilt of the body portion with respect to gravity, the control unit, the body portion detected by the tilt detection sensor When the inclination is less than a certain angle is controlled so as to drive the body autonomously, when the inclination of the body portion is a predetermined angle or more characterized in that the control to operate manually through the operation of the radio control means.
  • the intelligent unmanned weeding robot enables automatic unmanned weeding operation within a certain range set by a user through an intelligent unmanned weeding robot capable of autonomous driving using an unmanned remote control method (R / C).
  • R / C unmanned remote control method
  • the worker's safety is ensured in bad weather and convenient weeding can be performed, and the worker's exposure to danger from dust, noise, and debris generated during weeding can be prevented, and conventional manned weeding works
  • FIG. 1 is a side view showing a remote control robot for weeding according to a conventional embodiment.
  • Figure 2 is a side view showing an intelligent unmanned weeding robot according to an embodiment of the present invention.
  • Figure 3 is a plan view showing an intelligent unmanned weeding robot according to an embodiment of the present invention.
  • Figure 4 is a block diagram showing the schematic configuration of an intelligent unmanned weeding robot according to an embodiment of the present invention.
  • weeding robot an intelligent unmanned weeding robot (hereinafter referred to as “weeding robot") according to the present invention will be described in more detail with reference to the embodiment shown in the drawings.
  • Figure 2 is a side view showing an intelligent unmanned weeding robot according to an embodiment of the present invention
  • Figure 3 is a plan view showing an intelligent unmanned weeding robot according to an embodiment of the present invention
  • Figure 4 is an embodiment of the present invention It is a block diagram showing the approximate configuration of an intelligent unmanned weeding robot according to an example.
  • the intelligent unmanned weeding robot 1 according to an embodiment of the present invention, the main body 10, the weeding unit 20, the driving unit 30, geographic information mounting unit 40, magnetic location recognition unit It comprises a 50, the sensor part 60, the map building part 70, and the control part 90.
  • FIG. 1 the main body 10, the weeding unit 20, the driving unit 30, geographic information mounting unit 40, magnetic location recognition unit It comprises a 50, the sensor part 60, the map building part 70, and the control part 90.
  • the main body 10 is configured to enable driving by consisting of a main body 11 constituting the vehicle body of the weeding robot 1 and four wheels 11 provided at the lower part of the front and rear of the main body 11. do.
  • the weeding unit 20 is provided with a weeding blade 22 that can be adjusted in height up and down from the lower portion of the main body portion 10, the weeding blade 22 is installed vertically in the center of the main body portion (10). It is comprised so that rotation about the rotating shaft 21 is possible.
  • the weeding blade 22 is capable of height adjustment up and down while the main body portion 10 is running, consisting of a cylinder with a spring built therein and a rod partially inserted into the cylinder, and at one end of the rod
  • the lever is provided with a valve coupled to open the gas valve and is configured to be lifted from the main body 10 in a gas spring method or a general hydraulic method of pushing the rod while the high-pressure gas stored in the chamber is introduced into the cylinder Allow the operator to directly lower and lift, or by adopting an electric structure to be easily adjusted by the control of the control unit 90, the weeding blade 22 is capable of height adjustment up and down through a variety of known methods
  • the structure may be realized, and more preferably, the height can be adjusted automatically in conjunction with the running of the main body portion 10. You will be able to be configured.
  • the drive unit 30 is configured to transmit power to the wheel 12 and the weeding blade 22 so that the main body 10 travels and the weeding blade 22 is rotated.
  • the driving unit 30 is the engine 31 is mounted on the upper rear end of the main body 11, in the lower direction of the engine 31, that is, the traveling speed of the wheel 12 and the mowing blade ( The rotation speed of 22 is made constant through the control of the controller 90.
  • the geographic information mounting unit 40 is a configuration in which geographic information data necessary for driving of the main body unit 10 is stored, and is mounted in the form of data in the control unit 90 to update terrain information of an area required for weeding in real time. It is preferable to provide, and to provide the map information of the existing geometric shape, so that it can be used for the driving information of the body portion (10).
  • the magnetic position recognition unit 50 is configured to recognize current position information of the main body unit 10 when the main body unit 10 runs using the geographic information data stored in the geographic information mounting unit 40. to be.
  • the magnetic position recognition unit 50 is used for the purpose of driving the weedling robot, that is, the main body 10 mainly outdoors, the GPS sensor 63 provided in the sensor unit 60 to be described later is used.
  • the position information may be grasped, and the controller 90 may calculate position information necessary for autonomous driving.
  • the GPS sensor 63 is for recognizing the current position of the main body unit 10 by the magnetic position recognition unit 50, and recognizes the initial position when the weeding robot 1 runs, and the weeding robot is moving. It can be used to recognize the location of the location.
  • the magnetic position recognition unit 50 may recognize the current position information and movement information of the weeding robot running on the basis of the geographic information data stored in the geographic information mounting unit 40 so that the main body unit 10 may be recognized. Enable autonomous driving.
  • the sensor unit 60 may capture and recognize an image in order to calculate information necessary for driving of the main body 10, detect an obstacle located in a driving path, and identify a driving state of the main body 10. It is configured to.
  • the sensor unit 60 includes a vision sensor 61, an obstacle detecting sensor 62, a GPS sensor 63, and an inclination detecting sensor 64.
  • the vision sensor 61 is a vision camera sensor capable of recognizing an image.
  • the vision sensor 61 is configured to recognize an external environment of a region in which weeding is required so that the main body 10 can run autonomously and proceed with weeding.
  • the weeding robot 1 is able to recognize its location information through the geographic information data stored in the geographic information mounting unit 40 and the GPS sensor 63, wherein the vision sensor 61 weeds As the robot moves, the robot may recognize the obstacles on the travel path or the location of the grass to which weeding is required through the image, and detect and determine the weeding state through the weeding robot 1.
  • the obstacle sensor 62 may be an ultrasonic sensor, the ultrasonic sensor is installed along a circumferential portion of the weeding robot to calculate the distance to the obstacle by the vision sensor based on its own position value (In step 61), the image is recognized so that the weeding robot 1 can autonomously travel and proceed with the weeding operation.
  • the main body unit 10 It is a configuration for calculating the traveling route required for the movement of and to provide the information to the control unit 90.
  • the map building unit 70 is obtained through the image sensor and the GPS sensor 63 taken during the movement of the main body unit 10 through the vision sensor 61 provided in the sensor unit 60.
  • the location information is calculated and provided to the control unit 90 so that the weeding robot 1 can travel, and the elements of the environmental information are added to the existing geometric map mounted on the geographic information mounting unit 40.
  • a map is created and constructed, and the location is estimated using it.
  • the algorithm for extracting the information necessary for the movement of the herbicidal robot (1) using the neural network algorithm which is a pattern recognition algorithm. You will be able to get
  • control unit 90 is provided from each sensor such as the vision sensor 61, the obstacle detection sensor 62, that is, the ultrasonic sensor, the GPS sensor 63 and the tilt detection sensor 64 provided in the sensor unit 60.
  • neural network algorithm data such as stream data management and collision avoidance, automatic driving, image processing algorithm.
  • the controller 90 allows the main body 10, that is, the weeding robot 1, to autonomously travel and perform a weeding operation along the driving path calculated by the map building unit 70. And controls the respective components of the unit 10, the weeding unit 20 and the driving unit 30, and more specifically, the driving and steering of the wheel 12, the rotation operation of the weeding blade 22 and The rotation speed is controlled, and the operation of the engine 31 and the continuously variable transmission 32 is controlled.
  • control unit 90 is described above according to the image and position information obtained from the sensor unit 60, that is, the vision sensor 61 and the obstacle detection sensor 62 and each sensor of the GPS sensor 63.
  • the control of each component is possible, and the weeding operation is made possible by autonomous driving of the herbicidal robot 1 through an organic coupling relationship between components such as the geographic information mounting unit 40 and the map building unit 70. This is an effect that can be achieved very efficiently and conveniently.
  • the weeding robot 1 avoids obstacles by using the driving path calculated by the map building unit 70 and the position information of the obstacle detected by the obstacle detecting sensor 62. It further comprises a route planning unit 80 for generating an optimal route for.
  • the route planning unit 80 changes the desired route through the re-search when the weeding robot 1 driving the traveling route acquired by the map building unit 70 cannot change the route of the desired destination. It is the configuration to plan the route so that it can be set in real time.
  • the path planning unit 80 detects the obstacle using the vision sensor 61 and the obstacle detection sensor 62, that is, the ultrasonic sensor, and generates an optimal avoidance path reflecting the characteristics of the obstacle to the weeding robot ( 1) This stable route allows for very rapid weeding.
  • the controller 90 controls the driving and steering of the wheel 12 so that the weeding robot 1 autonomously travels along the path generated by the path planning unit 80 and proceeds with the weeding operation. And, to control the rotational operation and the rotational speed of the mowing blade 22, it is to control the operation of the engine 31 and the continuously variable transmission (32).
  • the controller 90 constructs an environment map according to the terrain change and the weeding state, plans the optimal route, and then adjusts the traveling speed and the weeding speed of the weeding robot 10 according to the planned route information. Done.
  • control unit 90 characterized in that the remote control means 91 for controlling the main body 10 and the drive unit 30 is provided.
  • the wireless control means 91 controls the herbicidal robot 1 through a wireless remote control (R / C) to ensure the safety of the worker in bad weather, dust, noise, debris, etc. generated during the weeding operation Not only can the worker be prevented from being exposed to danger, but a wider range of weeding can be done very conveniently and quickly compared to the conventional manned weeding, thereby eliminating the worker's fatigue caused by high-intensity manual labor. Will be used.
  • R / C wireless remote control
  • the wireless control means 91 for controlling the main body 10, the weeding section 20 and the drive unit 30, and transmits a radio signal to the controller (91a) It may include a radio controller 91b and a receiver 91c that receives a radio signal from the radio controller 91b and transmits the radio signal to the controller 91a.
  • the controller 90 controls the driving and steering of the wheel 12 as the operator adjusts the radio controller 91b, and controls the rotation operation and the rotation speed of the weeding blade 22, It is possible to remotely control the operation of the engine 31 and the continuously variable transmission 32.
  • the wireless remote control (R / C) as described above after the download and installation of a remote control application (application) of the smart phone, when the smart phone is set to communicate with the controller (91a) the weeding robot
  • Basic control such as driving and stopping, forward and backward, left and right movement, diagonal movement and speed adjustment will be possible.
  • the sensor unit 60 of the present invention is characterized in that the inclination detection sensor 64 for detecting the left and right inclination of the body portion 10 with respect to gravity.
  • the inclination detection sensor 64 may be installed in the main body 10, and when the horizontal of the main body 10 is inclined, the controller 90 detects the inclination of the weeding robot 1. After stopping the operation, it can be controlled to operate manually through the operation of the radio control means (91).
  • the main body 10 detected by the inclination detecting sensor 64 when the inclination of the main body 10 detected by the inclination detecting sensor 64 is equal to or less than a predetermined angle, the main body 10, that is, the weeding robot 1 autonomously travels. And it is possible to control the weeding operation to proceed, and to stop the autonomous driving operation when the inclination of the weeding robot 1 is more than a predetermined angle.
  • the controller 90 may be configured to allow the herbicidal robot 1 to move backward to escape the irregular terrain when a change in the predetermined slope is detected as described above, and after avoiding such irregular terrain,
  • the optimum path for stably running the weeding robot 1 is set through the same configuration as the map building unit 70 and the path planning unit 80, so that the autonomous driving work of the weeding robot 1 continues. As many embodiments as possible are possible.
  • the weeding robot 1 can effectively avoid irregular terrain, and if it encounters an obstacle or terrain that cannot be easily avoided, it is switched to the manual mode through the wireless control means 91 to effectively avoid the obstacle. After the obstacle is avoided as described above, autonomous driving for re-entry along the planned normal path and continuing the weeding operation will be possible.
  • the intelligent unmanned robot mower according to the present invention is not only the manpower is directly applied, but also the automatic weeding operation is very convenient by the wireless remote control, as well as a wide range of weeding operations compared to the conventional manned weeding operation. It is an industrially useful invention that can be finished very conveniently and quickly to relieve worker fatigue due to high-intensity manual labor.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

La présente invention porte sur une désherbeuse robotique sans conducteur intelligente. De manière plus spécifique, la présente invention porte sur une désherbeuse robotique sans conducteur intelligente pouvant être commandée par un procédé de commande à distance (R/C) sans opérateur et pouvant réaliser un désherbage automatique sans conducteur sur une distance prédéterminée définie par un utilisateur par l'intermédiaire de la désherbeuse robotique sans conducteur intelligente qui peut effectuer une conduite autonome en créant une route optimum pour éviter des obstacles bien que les informations géographiques chargées et la reconnaissance d'images et par conséquent la sécurité d'un travailleur peuvent être sûres tout en réalisant un travail de désherbage correct en dépit du mauvais temps, et peut être protégée de l'exposition à un danger provenant de la poussière, du bruit, de débris ou autre générés lors du désherbage. De plus, le désherbage peut être achevé de manière très rapide et très correcte sur une large zone en comparaison avec un travail de désherbage traditionnel avec conducteur, ce qui évite à un travailleur toute fatigue, due au travail physique très intense qu'impose le désherbage.
PCT/KR2013/009716 2013-10-30 2013-10-30 Désherbeuse robotique sans conducteur intelligente Ceased WO2015064780A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2013-0129759 2013-10-30
KR1020130129759A KR101573027B1 (ko) 2013-10-30 2013-10-30 지능형 무인 제초 로봇

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WO2017008523A1 (fr) * 2015-07-16 2017-01-19 张萍 Tondeuse à gazon intelligente multifonctionnelle basée sur l'internet des objets
CN106907374A (zh) * 2017-03-29 2017-06-30 德迈智能装备有限公司 智能电气装置、智能割草机及割草机的控制方法
KR101807560B1 (ko) 2016-04-06 2017-12-11 주식회사에스이티 잔디절삭기를 이용한 골프장 잔디 관리 시스템 및 그 방법
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CN108337987A (zh) * 2018-02-13 2018-07-31 杭州慧慧科技有限公司 一种自动割草系统和割草机控制方法
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WO2019035937A1 (fr) * 2017-08-16 2019-02-21 Franklin Robotics, Inc. Procédé de détection de collision inertielle pour robots extérieurs
CN110095996A (zh) * 2018-01-30 2019-08-06 苏州宝时得电动工具有限公司 割草方法及割草控制装置
CN111096107A (zh) * 2019-12-26 2020-05-05 中国农业机械化科学研究院 果园除草机及其树冠下方双模式除草方法和除草装置
CN111390922A (zh) * 2020-03-19 2020-07-10 深圳国信泰富科技有限公司 一种自动驾驶机器人
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IT201900016946A1 (it) * 2019-09-23 2021-03-23 Fabrizio Bernini Robot tagliaerba e procedimento corrispondente
WO2021159018A1 (fr) * 2020-02-07 2021-08-12 Texaroba Technology Inc. Tondeuse à gazon robotisée d'un dispositif de coupe non traditionnel
US11285612B2 (en) 2019-08-20 2022-03-29 X Development Llc Coordinating agricultural robots
US11297764B1 (en) * 2020-12-16 2022-04-12 Sam Milich Self driven mower with left and right drive trains
CN114303586A (zh) * 2021-12-29 2022-04-12 中国电建集团贵州电力设计研究院有限公司 一种用于边坡的光伏板下自动除草装置及其使用方法
CN115755890A (zh) * 2022-11-01 2023-03-07 南京傲翼飞控智能科技有限公司 基于数据处理的除草任务路径规划方法及装置
WO2024017154A1 (fr) * 2022-07-21 2024-01-25 追觅创新科技(苏州)有限公司 Procédé de commande pour dispositif automoteur, et dispositif automoteur et support de stockage
EP4388839A1 (fr) * 2022-12-22 2024-06-26 Honda Research Institute Europe GmbH Désherbage avec un dispositif de travail autonome
RU236714U1 (ru) * 2025-01-27 2025-08-18 Санат Каиргалиевич Сеитов Устройство для удаления сорных растений

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