WO2024057262A1 - Outil de travail robotisé pour l'entretien des arbres - Google Patents

Outil de travail robotisé pour l'entretien des arbres Download PDF

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Publication number
WO2024057262A1
WO2024057262A1 PCT/IB2023/059153 IB2023059153W WO2024057262A1 WO 2024057262 A1 WO2024057262 A1 WO 2024057262A1 IB 2023059153 W IB2023059153 W IB 2023059153W WO 2024057262 A1 WO2024057262 A1 WO 2024057262A1
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WO
WIPO (PCT)
Prior art keywords
assembly
work tool
robotic work
tree
cutting
Prior art date
Application number
PCT/IB2023/059153
Other languages
English (en)
Inventor
Sören KAHL
Frank HEILIGERS
Josefin CARLSSON
Del THORBURN
Original Assignee
Husqvarna Ab
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 Husqvarna Ab filed Critical Husqvarna Ab
Publication of WO2024057262A1 publication Critical patent/WO2024057262A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • A01G23/095—Delimbers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/08—Other tools for pruning, branching or delimbing standing trees
    • A01G3/085—Motor-driven saws for pruning or branching

Definitions

  • Example embodiments generally relate to robotic work tools and, more particularly, relate to a robotic drone for trimming trees.
  • Tree maintenance tasks are commonly performed using various tools and/or machines that are configured for the performance of corresponding specific tasks. Tree maintenance often requires a human being to either climb up into the tree, or to be raised up in a treetrimming bucket truck or other form of motorized platform, so that the person performing the maintenance tasks can get close enough to the desired parts of the tree to complete the tasks. Therefore, tree maintenance tasks may require special training in order to effectively climb the tree or to operate the motorized platform as required by the maintenance task at hand. Despite the use of such equipment, tree care workers may still suffer from health complications in the future due to consistent heavy loads on their arms and shoulders. In addition to the physical demands, tree maintenance is often a time intensive and expensive endeavor due to the need to procure the necessary personnel and/or equipment. Even so, some trees may be next to impossible to climb, and in many cases, a motorized platform cannot be used due to factors such as the area in which the tree is located.
  • robotics may be increasingly important to incorporate into tree maintenance tasks.
  • the demands of tree maintenance tasks have long slowed the adoption of robotics into this particular field.
  • a robotic work tool reducing the time, physical demands, cost and manpower of tree maintenance tasks is necessary in many cases.
  • the inclusion of a robotic work tool into this operational context may reduce falling or other cutting accidents, and may enable operation in certain weather conditions where tree care workers otherwise could not operate.
  • the robotic work tool may include an identification assembly which may be configured to detect an identified location on a tree for the robotic work tool to perform a cutting operation, a mobility assembly which may be configured to transport the robotic work tool to the identified location on the tree, a cutting module which may be selectively operably coupled to the mobility assembly and may be configured to perform the cutting operation at the identified location on the tree, and processing circuitry which may be configured to facilitate navigation of the mobility assembly to the identified location and to coordinate performing the cutting operation upon arriving at the identified location.
  • the cutting module may include a cutting member configured to perform a cutting operation, a motor to which the cutting member may be operably coupled, a power source which may be configured to supply power to the motor, a housing which may support the motor and the power source, and an anchoring assembly which may be configured to anchor the cutting module to a branch of the tree proximate to an identified location.
  • the mobility assembly may include a rotor assembly which may be configured to fly the robotic work tool to an identified location on a tree, a motor which may be configured to drive the rotor assembly, a power source which may be configured to supply power to the motor, and a docking assembly which may be configured to selectively operably couple a cutting module to the robotic work tool.
  • the docking assembly may be configured to alternately connect to and disconnect from the cutting module at the identified location.
  • the rotor assembly may be protected by a cage member.
  • FIG. 1 A illustrates an overview of a tree maintenance task according to an example embodiment
  • FIG. IB illustrates a schematic overview of a robotic work tool according to an example embodiment
  • FIG. 2 which comprises FIGS. 2A, 2B, and 2C, illustrates a close up view of the robotic work tool according to an example embodiment
  • FIG. 4 which comprises FIGS. 4A and 4B, illustrates a front view of the cutting module and the cutting member according to an example embodiment
  • FIG. 5, which comprises FIGS. 5A and 5B, illustrates a front view of the cutting module and the cutting member according to an example embodiment
  • FIG. 6, which comprises FIGS. 6A and 6B, illustrates a front view of the cutting module and the cutting member according to an example embodiment
  • FIG. 7, which comprises FIGS. 7A and 7B, illustrates a front view of the cutting module and the cutting member according to an example embodiment
  • FIG. 8 which comprises FIGS. 8 A and 8B, illustrates the identification assembly according to an example embodiment
  • FIG. 9 illustrates an overview of a tree maintenance task according to an example embodiment
  • FIG. 10 illustrates a bottom view of the cutting module according to an example embodiment
  • FIG. 11 illustrates a side view of the cutting module according to an example embodiment
  • FIG. 12 illustrates a side view of the cutting module according to an example embodiment.
  • FIG. 1A illustrates an overview of a tree maintenance task
  • FIG. IB shows a schematic overview of a robotic work tool 100, according to an example embodiment.
  • a tree maintenance task may involve the robotic work tool 100, an operator 110, and a tree 120.
  • the robotic work tool 100 may include a mobility assembly 130 for moving the robotic work tool 100, a cutting module 140 for performing a cutting operation of the tree maintenance task, and as shown in FIG. IB, an identification assembly 150 for identifying where to perform the tree maintenance task, and processing circuitry 160 for facilitating navigation of the robotic work tool 100 and for coordinating the cutting operation of the cutting module 140.
  • the mobility assembly 130 may be an unmanned aerial vehicle (UAV), or in other words, a drone.
  • UAV unmanned aerial vehicle
  • the mobility assembly 130 may further include a rotor assembly 170, a cage member 180, a motor 190, a power source 200, and a docking assembly 210.
  • the rotor assembly 170 may be disposed at a top of the mobility assembly 130 and may generate lift responsive to being rotated by the motor 190, which may be powered by the power source 200.
  • the power source 200 may be a battery and the motor 190 may be an electric motor.
  • the power source 200 may be a fuel tank, and the motor 190 may be an internal combustion engine.
  • the cage member 180 may be disposed around the rotor assembly 170 in order to protect the rotor assembly 170 and reduce the likelihood of anything impeding the operation of the rotor assembly 170.
  • the cage member 180 may be constructed of a lightweight yet strong material that may be capable of withstanding numerous moderate impacts with surrounding branches.
  • the cage member 180 may be constructed from a plastic polymer.
  • the cage member 180 may be a wireframe cage constructed from a metal alloy. In any case, the cage member 180 may allow sufficient airflow through the rotor assembly 170 such that the rotor assembly 170 may be capable of generating sufficient lift to fly the mobility assembly 130.
  • the mobility assembly 130 may include a plurality of rotor assemblies 170, a plurality of cage members 180 and a plurality of motors 190.
  • the plurality of rotor assemblies 170 and the plurality of motors 190 may be controlled by the processing circuitry 160 to operate in a cohesive manner.
  • the plurality of rotor assemblies 170 and the plurality of motors 190 may be operated at differing levels of power and speed, but may do so for the overall operation of the robotic work tool 100. In other words, individual ones of the plurality of rotor assemblies 170 and the plurality of motors 190 may need to be operated at different levels in order to effectively maneuver the robotic work tool 100.
  • the processing circuitry 160 may facilitate navigation of the mobility assembly 130 accordingly.
  • the mobility assembly 130 may be selectively operably coupled to the cutting module 140 via the docking assembly 210.
  • the mobility assembly 130 may alternately connect to, and disconnect from, the cutting module 140 via the docking assembly 210.
  • the cutting module 140 may perform a cutting operation on the tree 120 without the mobility assembly 130 necessarily remaining operably coupled thereto for the duration of the cutting operation.
  • the docking assembly 210 may not necessarily disconnect the mobility assembly 130 from the cutting module 140.
  • the cutting module 140 may operate while still connected to the docking assembly 210.
  • the docking assembly 210 may include wires, ropes or another extendible support structure to allow the cutting module 140 to be extended (e.g., lowered) through small branches or otherwise down to a target branch that is to be cut.
  • the mobility assembly 130 may then, for example, hover over the cutting module 140 after the extension of the cutting module 140 onto the target branch until the target branch is cut.
  • the cutting module 140 may be retracted (e.g., raised) off the target branch and back into contact with the mobility assembly 130 via the docking assembly 210.
  • the mobility assembly 130 could be maintained in contact with the target branch in order to support the weight of the branch while, and even sometimes after, being cut. In such examples, the mobility assembly 130 may even move (or remove) the target branch after cutting to take the target branch to a safe location to be dropped or released.
  • the cutting module 140 may include a cutting member 220, a motor 230, a power source 240, a housing 250, processing circuitry 160 and an anchoring assembly 260.
  • the cutting member 220 may be disposed on a face of the housing 250 on the opposite side of the cutting module 140 from the trunk of the tree 120, and may be oriented parallel to a cross section of a branch of the tree 120 so that the cutting member 220 may cut through the branch.
  • the power source 240 may be a battery and the motor 230 may be an electric motor.
  • the power source 240 may be a fuel tank, and the motor 230 may be an internal combustion engine.
  • the mobility assembly 130 may transport the cutting module 140 to a specific location on the tree 120 so that the cutting module 140 may perform the cutting operation on the tree 120.
  • the operator 110 may be located on the ground a distance away from the base of the tree 120, and the operator 110 may define an identified location 270 on the tree 120 using a laser pointer 280.
  • the identification assembly 150 may include a laser detection sensor to detect the identified location 270 defined by the laser pointer 280 and may accordingly guide the robotic work tool 100 to the identified location 270 along with the processing circuitry 160.
  • FIG. 2 which comprises FIGS. 2A, 2B, and 2C, illustrates a close up view of the robotic work tool 100 according to an example embodiment.
  • FIG. 2A shows the mobility assembly 130 disconnecting from the cutting module 140 after transporting the cutting module 140 to the identified location 270.
  • the cutting module 140 may thus be operably coupled to the tree 120 via the anchoring assembly 260 prior to disconnecting from the mobility assembly 130.
  • an actuator 290 disposed on the cutting module 140 may be depressed.
  • the actuator 290 may include or be operably coupled to a sensor, which may be mechanical, electrical, optical, etc. The sensor may detect when contact is made with the tree 120 (or a branch thereof), and may trigger operation or actuation of the actuator 290.
  • the act of depressing the actuator 290, or the sensor triggering operation of the actuator 290 may engage the anchoring assembly 260 to anchor the cutting module 140 to the tree 120.
  • the anchoring assembly 260 may have already anchored the cutting module 140 to the tree 120 to reduce the likelihood of the cutting module 140 falling out of the tree 120.
  • the cutting member 220 may begin to perform the cutting operation.
  • the cutting module 140 may cut through the branch to which it is anchored, and have the cut-off part of the branch fall away while the cutting module 140 remains safely anchored to the tree 120 as shown in FIG. 2B.
  • the cutting module 140 may even hold the branch of the tree 120 on both sides of the cutting member 220 to reduce the stresses put on the cutting member 220 during the cutting operation, and then release the excess portion of the branch after the cutting operation has been completed. Then, as illustrated in FIG. 2C, the mobility assembly 130 may return to the cutting module 140 following completion of the cutting operation. The mobility assembly 130 may then re-connect to the cutting module 140, and the robotic work tool 100 may fly away. In this regard, the anchoring assembly 260 may not release its anchor from the tree 120 until the mobility assembly 130 has successfully re-connected to the cutting module 140 in order to reduce the likelihood of the cutting module 140 falling out of the tree 120.
  • the cutting operation itself may also be controlled intelligently, and therefore may be subject to programming that may define standard cutting procedures that improve performance.
  • the processing circuitry 160 may include instructions for defining cutting operation procedures for the cutting module 140.
  • the cutting module 140 may perform the cut in sequences in order to avoid that the branch splits or that the cutting member 220 gets locked due to tensions in the branch.
  • the processing circuitry 160 may include or be operably coupled to a tension sensor that can evaluate when a branch or limb is under tension. Cutting strategies (e.g., performing a 1/3 cut from the compression side before cutting from the tension side) may then be employed to improve cutting performance of the cutting module 140.
  • the mobility assembly 130 may be performing other tasks.
  • the mobility assembly 130 may hover within 5 feet of the cutting module 140 so that the mobility assembly 130 can return to the cutting module 140 quickly in the event that the cutting module 140 needs to be removed from the tree 120 immediately.
  • the mobility assembly 130 may land on the ground in order to conserve the power level in the power source 200 for future tasks by not keeping the motor 190 powered on.
  • the mobility assembly 130 may return to the operator 110 in the event that the operator 110 determines that the mobility assembly 130 requires servicing or cleaning of some type.
  • the mobility assembly 130 may leave a first cutting module 140 on the tree to perform a cutting operation and go to pick up and transport a second cutting module 140 to another part of the same tree 120, or a different tree 120, in order to perform a plurality of tree maintenance tasks simultaneously.
  • the mobility assembly 130 may include rope or other tools and may perform other tree maintenance tasks such as removing loose pieces of the tree 120 from the ground surrounding the base of the tree 120 while the cutting module 140 performs the cutting operation.
  • the mobility assembly 130 may remain operably coupled to the cutting module 140 throughout the duration of the cutting operation.
  • the above embodiments are not meant to be exhaustive and other possibilities may also exist. Additionally, the embodiments described above are not necessarily mutually exclusive. For instance, a mobility assembly 130 may hover near the cutting module 140 for a first cutting operation, but may return to the operator 110 during an ensuing second cutting operation. Any combination of the above embodiments may be possible during any given number of tree maintenance tasks.
  • FIGS. 3-7 which comprise FIGS. 3A-7B, illustrate front views of the cutting module 140 and the cutting member 220 according to various example embodiments.
  • the cutting module 140 is depicted from a front view that highlights the cutting member 220, the anchoring assembly 260 and the actuator 290 as the cutting module 140 is lowered onto the tree 120.
  • the anchoring assembly 260 may include a clamping arm 300 to grip the tree 120 in order to anchor the cutting module 140 to the tree 120 responsive to the actuation of the actuator 290.
  • the anchoring assembly 260 may include a plurality of clamping arms 300 In this regard, the plurality of clamping arms 300 may also be engaged by the actuator 290 being depressed.
  • the clamping arms 300 may engage with the tree 120 to anchor the cutting module 140 simultaneously.
  • the clamping arms 300 wrap around the branch of the tree 120 that the cutting module 140 is placed on.
  • the clamping arms 300 may dig into the tree 120 to create a secure anchor between the cutting module 140 and the tree 120.
  • the cutting module 140 may more or less be secured in one position, and may rely on the mobility assembly 130 to perform adjustments to the position of the cutting module 140.
  • the cutting module 140 may be able to move while remaining anchored to the tree 120.
  • the cutting member 220 may begin the cutting operation.
  • the actions taken to begin the cutting operation may depend on the nature of the cutting member 220, and the nature of the cutting member 220 may depend on the use case of the robotic work tool 100.
  • the cutting member 220 may be disposed on the opposite side of the cutting module 140 from the trunk of the tree 120 so that the cutting module 140 may not cut off the part of the branch supporting its weight.
  • the robotic work tool 100 may support the weight of a branch being cut.
  • the cutting member 220 could be disposed to cut the branch on the side that is closest to the trunk of the tree 120 in some cases. This alternative operational paradigm may allow the branch to be removed in a controlled way to deposit the branch in a defined location.
  • the cutting member 220 may be a circular saw blade 310 that rotates about a rotational axis, but also moves linearly in order to cut through the entirety of the branch.
  • the circular saw blade 310 may be desirable for certain use cases where the robotic work tool 100 may be performing a tree maintenance task on a larger portion of the tree 120.
  • the cutting member 220 may be a pair of secateurs 320.
  • the cutting member 220 may move in a scissor-like motion to cut through a branch on the tree 120.
  • the pair of secateurs 320 such as the one shown in FIGS. 4A and 4B, may be more common in use cases involving trimming thinner branches due to the amount of force required to cut through the tree 120 with such a cutting member 220.
  • Example embodiments may be practiced with either a bypass secateur (which has two sharp edges) or an anvil secateur (which has one sharp edge that cuts when moved toward an unsharpened anvil).
  • FIGS. 5A and 5B illustrate that, in some embodiments, the cutting member 220 may merely include a singular blade that moves in a singular direction down through the branch.
  • the cutting member 220 may resemble a guillotine 330. Similar to the pair of secateurs, the guillotine 330 cutting member 220 may be more commonly embodied on robotic work tools dealing primarily with trimming thinner branches due to the force required to cut through the branch of the tree 120.
  • the cutting member 220 may be a chainsaw 340, which may include a guide bar and a cutting chain.
  • the cutting chain may rotate around the guide bar rapidly, like it might in a conventional chainsaw 340.
  • the chainsaw 340 may be operably coupled to the cutting module 140 by a pivot member 345. Accordingly, the chainsaw 340 may pivot about the pivot member 345 in order to perform the cutting operation with a sweeping motion through the entirety of the branch of the tree 120.
  • the pivot member 345 may be operably coupled to a motor driving the pivoting of the chainsaw 340 guide bar to cut through the branch of the tree 120.
  • the chainsaw 340 may be desirable for certain use cases where the robotic work tool 100 may be performing a tree maintenance task on a larger portion of the tree 120.
  • the chainsaw 340 may be slightly more robust than other forms of cutting members 220 in other embodiments.
  • the cutting member 220 may be a jigsaw 350.
  • the jigsaw 350 may move rapidly up and down while more slowly moving across a diameter of the tree 120 branch in order to utilize serrated edges of the jigsaw 350 blade to perform the cutting operation through the tree 120 branch.
  • the jigsaw 350 may be operably coupled to the cutting module 140 such that it can move laterally across a width of the cutting module 140 while also moving more rapidly up and down as described.
  • Other forms of cutting members 220 may be possible and this list is not meant to be exhaustive but rather to provide a few more common examples.
  • the cut-off part of the branch may fall away, and the mobility assembly 130 may return to operably couple to the cutting module 140, and the robotic work tool 100 may fly away.
  • the mobility assembly 130 may not leave the cutting module 140 at all.
  • the anchoring assembly 260 may still anchor the cutting module 140 to the tree 120.
  • the cutting module 140 may be anchored to the tree 120 and operably coupled to the mobility assembly 130 simultaneously.
  • FIG. 8, which comprises FIGS. 8A and 8B, illustrates the identification assembly 150 according to an example embodiment.
  • the operator 110 may utilize a camera 360 to generate an image of the tree 120 as depicted by FIG. 8A.
  • the image of the tree 120 may be uploaded to the identification assembly 150 on board the robotic work tool 100 by wire or wirelessly.
  • the identification assembly 150 may include an image analysis software program to analyze the image of the tree 120 and define an identified location 270 as well as a path to get the robotic work tool 100 to the identified location 270, avoiding obstacles such as branches and leaves.
  • the identification assembly 150 may work with the processing circuitry 160 to facilitate navigation of the robotic work tool 100 to the identified location 270.
  • the image analysis software program may instead be located at an external device, and the results of the image analysis may be communicated to the robotic work tool 100.
  • wireless communication to the external device e.g., a cloud computing device, external computer at the work site or a remote server
  • the identified location 270 may be communicated to the robotic work tool 100, or the robotic work tool 100 may be guided by external navigation signals (e.g., via UWB, ultrasound, or other techniques) to the identified location 270.
  • Employing the external device for determining the identified location 270 and/or navigating to the identified location 270 may reduce the computational hardware requirements (and weight) of the robotic work tool 100.
  • the operator 110 may generate a plurality of images of the tree 120 with the camera 360 from different angles around the tree 120.
  • the plurality of images may then be uploaded to the identification assembly 150 via wire or wirelessly.
  • the identification assembly 150 may include a 3D model generator.
  • the 3D model generator may utilize the plurality of images generated by the camera 360 to generate a 3D model of the tree 120 and define an identified location 270.
  • the 3D model of the tree 120 may then be used by the processing circuitry 160 and the identification assembly 150 to facilitate navigation of the robotic work tool 100 around the tree 120 to reach the identified location 270.
  • the 3D model generator may instead be located at an external device, and the 3D model may be communicated to the robotic work tool 100.
  • the identification assembly 150 may use alternate methods to define an identified location 270 and guide the robotic work tool 100 there accordingly.
  • the operator 110 may provide distance values for the robotic work tool 100 to travel in specific directions in order to help the robotic work tool 100 arrive at the identified location 270 while encountering minimal obstacles or expending minimal energy.
  • the operator 110 could provide input to the identification assembly 150 to communicate that the identified location 270 is 25 feet up and 15 feet forward in the North direction from the current location of the robotic work tool 100.
  • the identification assembly 150 may be disposed on the mobility assembly 130. In some other example embodiments, the identification assembly 150 may be disposed on the cutting module 140. In some other cases, the identification assembly 150 may be disposed on both the mobility assembly 130 and the cutting module 140. Despite the embodied location of the identification assembly 150, the function may remain the same to detect the identified location 270.
  • FIG. 9 illustrates an overview of a tree maintenance task according to an example embodiment.
  • the robotic work tool 100 may be controlled by the operator 110 using a control assembly 370.
  • the operator 110 may have control over all components of the robotic work tool 100. Accordingly, the operator 110 may fly the robotic work tool 100 to any identified location 270 selected by the operator 110.
  • the control assembly 370 may wirelessly communicate with the robotic work tool 100 so that the operator 110 may control the speed and direction of the mobility assembly 130, the operation of the docking assembly 210, the operation of the anchoring assembly 260, and the operation of the cutting member 220.
  • every action taken by the robotic work tool 100 may be controlled by the operator 110 via the control assembly 370.
  • some actions taken by the robotic work tool 100 may be executed without direct input by the operator 110.
  • the cutting operation may be set to automatically begin responsive to the successful anchoring of the cutting module 140 to the tree 120 via the anchoring assembly 260.
  • the combination of actions that are controllable by the operator 110 and actions that are automated by the robotic work tool 100 may vary depending on choices made by the operator 110.
  • the operator 110 may elect to automate the navigation of the robotic work tool 100 to the identified location 270 but may elect to manually control the docking assembly 210 and the cutting operation.
  • the operator 110 may have the ability to indicate on the control assembly 370 their preferences regarding which actions should be automated and which actions should be manually controlled.
  • the control assembly 370 may offer full control of the robotic work tool 100 should the operator 110 desire or need to take over control of the robotic work tool 100 at any point in time.
  • FIG. 10 illustrates a bottom view of the cutting module 140 according to an example embodiment.
  • the actuator 290 and the anchoring assembly 260 are shown.
  • the anchoring assembly 260 may have four individual clamping arms 300.
  • the cutting module 140 would be considered anchored to the tree 120 responsive to all four clamping arms 300 tightening their grip on the tree 120.
  • the clamping arms 300 may include a serrated edge 380 to give the clamping arms 300 better grip of the tree 120 in various weather conditions.
  • the clamping arms 300 may include pointed tips 390 that may dig into the surface layer of the tree 120 to provide a more secure anchor to the tree 120 in various weather conditions.
  • the clamping arms 300 may include both a serrated edge 380 and pointed tips 390 for more grip to the tree 120 in a variety of conditions.
  • the crawl assembly 400 may include a wheel 410 disposed almost entirely inside of the housing 250 except for a portion of the edge of the wheel 410 that may protrude out from the bottom of the housing 250 of the cutting module 140.
  • the wheel 410 may make contact with the tree 120 when the cutting module 140 is anchored to the tree 120.
  • the anchoring assembly 260 may reduce its grip on the tree 120 by a small amount sufficient to allow movement of the cutting module 140 along the length of the branch, but not enough to entirely separate the cutting module 140 from the tree 120.
  • the anchoring assembly 260 may also detect a total loss of grip and react to re-anchor the cutting module 140 to prevent the cutting module 140 from falling out of the tree 120. Responsive to the slight reduction of the grip by the anchoring assembly 260, the crawl assembly 400 may then turn the wheel 410 in the appropriate direction for moving the cutting module 140 along the length of the branch. For example, if the robotic work tool 100 cannot get flight access to the identified location 270 as shown in FIG. 11, then the mobility assembly 130 may fly the cutting module 140 to a more accessible part of the tree 120, and the cutting module 140 may crawl, using the crawl assembly 400, to the identified location 270 in order to perform the cutting operation at the identified location 270.
  • the crawl assembly 400 may include a plurality of wheels 410. In other cases, the crawl assembly 400 may include a track or belt to crawl the cutting module 140 to the identified location 270 in lieu of a wheel 410. In still some other cases, the crawl assembly 400 may utilize the clamping arms 300 to “walk” the cutting module 140 along the branch to arrive at the identified location 270.
  • FIG. 12 illustrates a side view of the cutting module 140 according to an example embodiment.
  • the embodiment of FIG. 12 shows a cutting module 140 fitted with a telescoping arm 420.
  • the telescoping arm 420 may be operably coupled to the cutting module 140 at an end thereof, and may extend the reach of the cutting member 220 in the event that the entire cutting module 140 is unable to move to the identified location 270.
  • some example embodiments will realize that the mobility assembly 130 is incapable of flying within reasonable range of the identified location 270.
  • the crawl assembly 400 may be used to inch the cutting module 140 closer to the identified location 270.
  • the cutting module 140 might include the telescoping arm 420 which may allow for the cutting module 140 to extend the cutting member 220 to the identified location 270 to perform the cutting operation.
  • the cutting module 140 may include the telescoping arm 420 and not the crawl assembly 400.
  • the cutting module 140 may include both the telescoping arm 420 and the crawl assembly 400. In other words, the telescoping arm 420 and the crawl assembly 400 may exist together on the cutting module 140 or on their own on the cutting module 140.
  • the robotic work tool may include an identification assembly which may be configured to detect an identified location on a tree for the robotic work tool to perform a cutting operation, a mobility assembly which may be configured to transport the robotic work tool to the identified location on the tree, a cutting module which may be selectively operably coupled to the mobility assembly and may be configured to perform the cutting operation at the identified location on the tree, and processing circuitry which may be configured to facilitate navigation of the mobility assembly to the identified location and to coordinate performing the cutting operation upon arriving at the identified location.
  • the robotic work tool of some embodiments may include additional features, modifications, augmentations and/or the like to achieve further objectives or enhance performance of the robotic work tool.
  • the additional features, modifications, augmentations and/or the like may be added in any combination with each other.
  • the mobility assembly may be a drone.
  • the drone may include a rotor assembly which may be configured to fly the robotic work tool to the identified location, a motor which may be configured to drive the rotor assembly, a power source which may be configured to supply power to the motor, and a docking assembly which may be configured to selectively operably couple the cutting module to the drone.
  • the rotor assembly may be protected by a cage member.
  • the docking assembly may be configured to alternately connect to and disconnect from the cutting module at the identified location.
  • the identification assembly may include a laser detection sensor.
  • an operator may point a laser pointer at the identified location and the mobility assembly may use the laser detection sensor to guide the robotic work tool to the identified location.
  • the identification assembly may include an image analysis program.
  • a camera may generate an image of the tree and the image analysis program may analyze the image and may determine a path to the identified location.
  • the identification assembly may include a 3D model generator.
  • a camera may generate at least one image of the tree and the 3D model generator may generate a 3D model of the tree using the at least one image.
  • the mobility assembly may navigate using the 3D model to transport the robotic work tool to the identified location.
  • the cutting module may include a cutting member which may be configured to perform the cutting operation, a motor to which the cutting member may be operably coupled, a power source which may be configured to supply power to the motor, a housing which may support the motor and the power source, and an anchoring assembly which may be configured to anchor the cutting module to a branch of the tree proximate to the identified location.
  • the cutting module may include a crawl assembly which may be configured to move the cutting module along the branch without the use of the mobility assembly.
  • an actuator may actuate the anchoring assembly to anchor the cutting module to the branch.
  • the cutting member may be configured to cut through the branch.
  • the at least one cutting member may be a chainsaw chain and guide bar, a circular saw blade, a jigsaw blade, or a pair of secateurs.
  • the mobility assembly may be automated such that the robotic work tool may arrive at the identified location without direct control by an operator.
  • the cutting module may be automated such that the robotic work tool performs the cutting operation without direct control by the operator.
  • the cutting member may be operably coupled to a telescoping arm to reach the identified location.
  • the anchoring assembly may include at least two clamping arms which may be configured to grasp the branch.
  • the robotic work tool may include a control assembly which may be configured to provide control over the robotic work tool.
  • the operator may control the mobility assembly and the cutting module via the control assembly.
  • the identification assembly may be disposed on the mobility assembly. In an example embodiment, the identification assembly may be disposed on the cutting module.
  • the cutting module may include a cutting member configured to perform a cutting operation, a motor to which the cutting member may be operably coupled, a power source which may be configured to supply power to the motor, a housing which may support the motor and the power source, and an anchoring assembly which may be configured to anchor the cutting module to a branch of the tree proximate to an identified location.
  • the cutting module of some embodiments may include additional features, modifications, augmentations and/or the like to achieve further objectives or enhance performance of the cutting module.
  • the additional features, modifications, augmentations and/or the like may be added in any combination with each other.
  • an actuator may be configured to actuate the anchoring assembly to anchor the cutting module to the branch.
  • the cutting member responsive to the anchoring assembly anchoring the cutting module to the branch, the cutting member may be configured to cut through the branch.
  • the mobility assembly may include a rotor assembly which may be configured to fly the robotic work tool to an identified location on a tree, a motor which may be configured to drive the rotor assembly, a power source which may be configured to supply power to the motor, and a docking assembly which may be configured to selectively operably couple a cutting module to the robotic work tool.
  • the docking assembly may be configured to alternately connect to and disconnect from the cutting module at the identified location.
  • the rotor assembly may be protected by a cage member.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un outil de travail robotisé (100) pour effectuer des activités d'entretien d'arbre comprenant un ensemble d'identification (150) conçu pour détecter un emplacement identifié (270) sur un arbre (120) pour que l'outil de travail robotisé (100) effectue une opération de coupe. L'outil de travail robotisé comprend en outre un ensemble de mobilité (130) conçu pour transporter l'outil de travail robotisé (100) jusqu'à l'emplacement identifié (270) sur l'arbre (120), et un module de coupe (140) accouplé sélectivement de manière fonctionnelle à l'ensemble de mobilité (130) et conçu pour effectuer l'opération de coupe à l'emplacement identifié (270) sur l'arbre (120). L'outil de travail robotisé comprend en outre des circuits de traitement (160) conçus pour faciliter la navigation de l'ensemble de mobilité (130) vers l'emplacement identifié (270) et pour coordonner la réalisation de l'opération de coupe lors de l'arrivée à l'emplacement identifié (270).
PCT/IB2023/059153 2022-09-14 2023-09-14 Outil de travail robotisé pour l'entretien des arbres WO2024057262A1 (fr)

Applications Claiming Priority (2)

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SE2251061 2022-09-14
SE2251061-4 2022-09-14

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WO2024057262A1 true WO2024057262A1 (fr) 2024-03-21

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160205872A1 (en) * 2015-01-20 2016-07-21 Elwha Llc Systems and methods for pruning plants
WO2017184327A1 (fr) * 2016-04-17 2017-10-26 Volpi Lucio Véhicule robotisé aérien sans pilote avec mécanisme de montage
US20180035606A1 (en) * 2016-08-05 2018-02-08 Romello Burdoucci Smart Interactive and Autonomous Robotic Property Maintenance Apparatus, System, and Method
CN108163188A (zh) * 2018-01-12 2018-06-15 成都力钧科技有限责任公司 一种可修枝的无人机复合系统
US10561071B2 (en) * 2017-12-31 2020-02-18 Michael Browning Hawkins Self-propelled tree trimmer
US20210155344A1 (en) * 2018-04-18 2021-05-27 Miguel Angel MURA YAÑEZ System for performing multiple possible complex tasks on work sites using unmanned aerial devices
WO2021239920A1 (fr) * 2020-05-27 2021-12-02 Airforestry Ab Procédé et système de coupe à distance ou autonome d'un tronc ligneux
US20220174932A1 (en) * 2019-03-22 2022-06-09 Jacques RAVANAT Pruning robot for removing processionary caterpillar nests
US20220194578A1 (en) * 2020-12-23 2022-06-23 Osmose Utilities Services, Inc. Systems and methods for inspecting structures with an unmanned aerial vehicle

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160205872A1 (en) * 2015-01-20 2016-07-21 Elwha Llc Systems and methods for pruning plants
WO2017184327A1 (fr) * 2016-04-17 2017-10-26 Volpi Lucio Véhicule robotisé aérien sans pilote avec mécanisme de montage
US20180035606A1 (en) * 2016-08-05 2018-02-08 Romello Burdoucci Smart Interactive and Autonomous Robotic Property Maintenance Apparatus, System, and Method
US10561071B2 (en) * 2017-12-31 2020-02-18 Michael Browning Hawkins Self-propelled tree trimmer
CN108163188A (zh) * 2018-01-12 2018-06-15 成都力钧科技有限责任公司 一种可修枝的无人机复合系统
US20210155344A1 (en) * 2018-04-18 2021-05-27 Miguel Angel MURA YAÑEZ System for performing multiple possible complex tasks on work sites using unmanned aerial devices
US20220174932A1 (en) * 2019-03-22 2022-06-09 Jacques RAVANAT Pruning robot for removing processionary caterpillar nests
WO2021239920A1 (fr) * 2020-05-27 2021-12-02 Airforestry Ab Procédé et système de coupe à distance ou autonome d'un tronc ligneux
US20220194578A1 (en) * 2020-12-23 2022-06-23 Osmose Utilities Services, Inc. Systems and methods for inspecting structures with an unmanned aerial vehicle

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