农田高效除草机器人研发

An ASABE Meeting Presentation

Paper Number: 131596766

Development of a High-Efficient Weeding Robot in the

Crop Fields

Jun Che, Graduate Student

College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing, 210037,

China, ichejun@gmail.com

Yong Chen, Ph. D, Professor

ASABE Member, College of Mechanical and Electronic Engineering, Nanjing Forestry University,

Nanjing, 210037, China, chenyongjsnj@163.com

Lie Tang, Ph. D, Associate Professor

ASABE Member, Iowa State University, 203 Davidson Hall, Ames, Iowa, 50011, USA,

lietang@iastate.edu

Yan Wang, Graduate Student

College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing, 210037,

China, wangyan3100233@163.com

Xiaojun Jin, M.Sc.

College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing, 210037,

China, chironking@gmail.com

Jun Chen, Undergraduate Student

School of Instrument Science and Opto-electronics Engineering, HeFei University of Technology,

Hefei, 230009, China, zdmscj@sina.cn

Written for presentation at the

2013 ASABE Annual International Meeting

Sponsored by ASABE

Kansas City, Missouri

July 21 – 24, 2013

Abstract. A novel high-efficient weeding robot was developed, which could perform inter-row and intra-row

weed control simultaneously. A machine vision based system was constructed to guide the robot to move

along the crop line. The robot was driven by two geared motors. Intra-row weeds were distinguished from the

crops by utilizing infrared sensing technology and the plant spacing information. A microcontroller based

control system was designed and fabricated to remove intra-row weeds mechanically and inter-row weed by

direct herbicide application. Experiments showed that the prototype of the weeding robot was able to walk

along the crop line with an accuracy of ±5 cm and realize weeding operations.

Keywords.

mechanical weed control, direct herbicide application, intra-row, inter-row, autonomous navigation