A robot to detect and control broad‐leaved dock (Rumex obtusifolius L.) in grassland
A robot to detect and control broad‐leaved dock (Rumex obtusifolius L.) in grassland
复制标题
DOI：
10.1002/rob.20377
复制
发表时间：
2011-03
影响因子：
8.3
通讯作者：
F. K. Evert;J. Samsom;G. Polder;M. Vijn;H. V. Dooren;A. Lamaker;G. V. D. Heijden;C. Kempenaar;T. V. D. Zalm;L. Lotz
中科院分区：
文献类型：
--
作者：
F. K. Evert;J. Samsom;G. Polder;M. Vijn;H. V. Dooren;A. Lamaker;G. V. D. Heijden;C. Kempenaar;T. V. D. Zalm;L. Lotz
阔叶树是一种常见的草原杂草，地理分布广泛，危害严重。在传统农业中，杂草通常是通过使用选择性除草剂来控制的，但在有机农业中，人工清除是控制这种杂草的最佳选择。我们的工作目标是开发一种机器人，它可以在牧场上导航，探测宽叶码头，并清除发现的任何杂草。建造了一个原型机器人，利用厘米级精度的全球定位系统(GPS)沿着预定的路径导航。使用摄像头和图像处理来检测宽叶码头。一旦检测到杂草，就会用割草机将其消灭。对系统各方面的测试表明，路径跟踪精度是足够的，但可以通过调整控制器或采用动态车辆模型来提高，杂草检测的成功率在草短和阔叶植物呈玫瑰花状时最高，并且75%的杂草被除掉后不会再长出来。整个系统的田间试验结果检测到134种杂草中的124种(93%)，而除草行动进行了8次，没有杂草存在。当除草器的中心位于杂草主根的0.1m以内时，被认为是有效的杂草控制--这发生在73%的情况下。结果表明，该机器人是一种在商业农场条件下检测和控制阔叶码头的有效工具。©2010 Wiley期刊，Inc.
Broad‐leaved dock is a common and troublesome grassland weed with a wide geographic distribution. In conventional farming the weed is normally controlled by using a selective herbicide, but in organic farming manual removal is the best option to control this weed. The objective of our work was to develop a robot that can navigate a pasture, detect broad‐leaved dock, and remove any weeds found. A prototype robot was constructed that navigates by following a predefined path using centimeter‐precision global positioning system (GPS). Broad‐leaved dock is detected using a camera and image processing. Once detected, weeds are destroyed by a cutting device. Tests of aspects of the system showed that path following accuracy is adequate but could be improved through tuning of the controller or adoption of a dynamic vehicle model, that the success rate of weed detection is highest when the grass is short and when the broad‐leaved dock plants are in rosette form, and that 75% of weeds removed did not grow back. An on‐farm field test of the complete system resulted in detection of 124 weeds of 134 encountered (93%), while a weed removal action was performed eight times without a weed being present. Effective weed control is considered to be achieved when the center of the weeder is positioned within 0.1 m of the taproot of the weed—this occurred in 73% of the cases. We conclude that the robot is an effective instrument to detect and control broad‐leaved dock under the conditions encountered on a commercial farm. © 2010 Wiley Periodicals, Inc.