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An automatic weeding robot

An automatic weeding robot. Session T 94.1 The Danish Plant Production Congress 2006, January 10th, 2006. Mechanically/physically weed control. Formulation of problems:. Operating costs (working hours/ha, varying weed control effeciency).

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An automatic weeding robot

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  1. An automatic weeding robot Session T 94.1 The Danish Plant Production Congress 2006, January 10th, 2006

  2. Mechanically/physically weed control • Formulation of problems: • Operating costs (working hours/ha, varying weed control effeciency) • No possibility of efficient mechanical/physically weed control close to crop • Capital costs (investment in novel technology) • Herbicides is known technology • Novel technology should be better than herbicides

  3. Aim of the Research Project ’Robotic Weeding’ • To develop novel automatic weeding technology and weeding strategies that can reduce: • manual effort by 50 - 100% at physical weed control in row crops • herbicide usage by 75 – 100% i conventional grown row crops

  4. Objectives • To investigate precision and limitations for: • automatic and unmanned row guidance - scope of application: • weed control between crop rows • weed control within crop rows

  5. Automatic row guidance (commercial) Photos: www.thyregod.com

  6. Automatic row guidance/driver assistance – news! • ECO-DAN/agrocom DUO-DRIVE

  7. Aut. and unmanned row guidance & tractor control RTK-GPS Seeder (geo-spatial seed map) Automatic og unmanned row guidance (RTK-GPS)(weed control between crop rows) Navigation based on geo-spatial seed map (estimated plant positions) Automatic og unmanned row guidance (RTK-GPS) (weed control within crop rows) (RTK-GPS accuracy < 2 cm)

  8. Machines and procedures (I)

  9. y r x Machines and procedures (II) • RTK-GPS seeder (geo-spatial seed map) max(r) = 37.3 mm (P 0.95)

  10. Machines and procedures (III)

  11. Machines and procedures (IV) • RTK-GPS controlled hoeing between rows

  12. Machines and procedures (V)

  13. Machines and procedures (VI) (on-going project) • RTK-GPS controlled ’cycloide’ hoeing within crop rows Supported by:

  14. Field experiments (I) • Trial plan: • 2 forward speeds (2 and 4 km/h) • Straight trajectories (45 m) in NS and EW directions • 1 repetition • Validation: • 100 manuallly measured deviations per 45 m (ruler) • GPS log file (10 Hz) N

  15. Field experiment (II)

  16. Field experiment (III) • Measuring deviations to the planned path (crop rows):

  17. Cross-track errors and covered area (II) • Example: - assuming max. 5 % crop damage

  18. Cross-track errors and covered area (II) • Resultater (min. - max.):

  19. Conlusions • Automatic og unmanned row guidance works • Obtained precision similar to other row guidance technology • Possibility of several treatments without increase in working hours/ha • In principle 24 hour operation • ~ 20% of the field area still requires hand weeding (or band spraying) • Basis for automatic og unmanned hoeing within crop rows

  20. Contributors (aut. hoeing between crop rows) • Jaime Soriano Ibarra (MSc student, master thesis) • Hans W. Griepentrog (main supervision, machine design) • Michael Nørremark (software, hardware, field experiments) • Jon Nielsen (software, hardware) • Supported by:

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