an automatic weeding robot

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Michael Nørremark Michael Nørremark Department of Agricultural Sciences Department of Agricultural Sciences Cand. agro., Ph.D.-student Cand. agro., Ph.D.-student Environment, Resources and Technology Environment, Resources and Technology Hojbakkegaard Alle 10, DK–2630 Taastrup, Denmark Hojbakkegaard Alle 10, DK–2630 Taastrup, Denmark THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY An automatic weeding robot An automatic weeding robot Session T 94.1 Session T 94.1 The Danish Plant Production Congress 2006, The Danish Plant Production Congress 2006, January 10th, 2006 January 10th, 2006

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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). - PowerPoint PPT Presentation

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Page 1: An automatic weeding robot

Michael NørremarkMichael Nørremark Department of Agricultural SciencesDepartment of Agricultural SciencesCand. agro., Ph.D.-studentCand. agro., Ph.D.-student Environment, Resources and Technology Environment, Resources and Technology

Hojbakkegaard Alle 10, DK–2630 Taastrup, DenmarkHojbakkegaard Alle 10, DK–2630 Taastrup, Denmark

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

An automatic weeding robotAn automatic weeding robot

Session T 94.1Session T 94.1

The Danish Plant Production Congress 2006, The Danish Plant Production Congress 2006,

January 10th, 2006January 10th, 2006

Page 2: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Mechanically/physically weed controlMechanically/physically weed control

Formulation of problems: Formulation of problems:

• Capital costs (investment in novel technology)Capital costs (investment in novel technology)

• Operating costs (working hours/ha, varying weed control effeciency)Operating costs (working hours/ha, varying weed control effeciency)

• Herbicides is known technologyHerbicides is known technology

• Novel technology should be better than herbicidesNovel technology should be better than herbicides

• No possibility of efficient mechanical/physically weed control close to cropNo possibility of efficient mechanical/physically weed control close to crop

Page 3: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Aim of the Research Project ’Robotic Weeding’Aim of the Research Project ’Robotic Weeding’

• manual effort by 50 - 100% at physical weed control in row cropsmanual effort by 50 - 100% at physical weed control in row crops

• herbicide usage by 75 – 100% i conventional grown row cropsherbicide usage by 75 – 100% i conventional grown row crops

To develop novel automatic weeding technology and To develop novel automatic weeding technology and weeding strategies that can reduce:weeding strategies that can reduce:

Page 4: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

ObjectivesObjectives

To investigate precision and limitations forTo investigate precision and limitations for::

• automatic and unmanned row guidanceautomatic and unmanned row guidance

- scope of application- scope of application::

• weed control between crop rowsweed control between crop rows

• weed control within crop rowsweed control within crop rows

Page 5: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Automatic row guidance (commercial)Automatic row guidance (commercial)

Photos: www.thyregod.comPhotos: www.thyregod.com

Page 6: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Automatic row guidance/driver assistance – news!Automatic row guidance/driver assistance – news!

ECO-DAN/agrocom DUO-DRIVEECO-DAN/agrocom DUO-DRIVE

Page 7: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Aut. and unmanned row guidance & tractor controlAut. and unmanned row guidance & tractor control

RTK-GPS Seeder RTK-GPS Seeder (geo-(geo-spatial seed map)spatial seed map)

Navigation based on geo-spatial seed map Navigation based on geo-spatial seed map (estimated plant (estimated plant positions)positions)

Automatic og unmanned Automatic og unmanned row guidance (RTK-GPS)row guidance (RTK-GPS)

(weed control (weed control between crop rowsbetween crop rows))

Automatic og unmanned Automatic og unmanned row guidance (RTK-GPS) row guidance (RTK-GPS)

(weed control (weed control within within crop rowscrop rows))

(RTK-GPS accuracy < 2 cm)(RTK-GPS accuracy < 2 cm)

Page 8: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Machines and procedures (I)Machines and procedures (I)

Page 9: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Machines and procedures (II)Machines and procedures (II)

x

y

r

max(r) = 37.3 mm (P 0.95)max(r) = 37.3 mm (P 0.95)

RTK-GPS seeder (geo-spatial seed map)RTK-GPS seeder (geo-spatial seed map)

Page 10: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Machines and procedures (III)Machines and procedures (III)

Page 11: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Machines and procedures (IV)Machines and procedures (IV)

RTK-GPS controlled hoeing between rowsRTK-GPS controlled hoeing between rows

Page 12: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Machines and procedures (V)Machines and procedures (V)

Page 13: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Machines and procedures (VI)Machines and procedures (VI)

Supported by:Supported by:

(on-going project)(on-going project)

RTK-GPS controlled ’cycloide’ hoeing within crop rowsRTK-GPS controlled ’cycloide’ hoeing within crop rows

Page 14: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Field experiments (I)Field experiments (I)

NN

Trial plan:Trial plan:• 2 forward speeds (2 and 4 km/h)2 forward speeds (2 and 4 km/h)

• Straight trajectories (45 m) in NS and EW directionsStraight trajectories (45 m) in NS and EW directions

• 1 repetition1 repetition

• 100 manuallly measured deviations per 45 m 100 manuallly measured deviations per 45 m (ruler)(ruler)

• GPS log file (10 Hz)GPS log file (10 Hz)

Validation:Validation:

Page 15: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Field experiment (II)Field experiment (II)

Page 16: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Field experiment (III)Field experiment (III)

Measuring deviations to the planned path (crop rows):Measuring deviations to the planned path (crop rows):

Page 17: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Cross-track errors and covered area Cross-track errors and covered area (II)(II)

Row width:Row width: 50 cm50 cm

Band width:Band width: 5 cm5 cm

Meas. dev. (x 1.96):Meas. dev. (x 1.96): 6 cm6 cm

Hoe unit working Hoe unit working width:width: 39 cm39 cm

Example:Example:

- assuming max. 5 % crop damage- assuming max. 5 % crop damage

Page 18: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Cross-track errors and covered area (II)Cross-track errors and covered area (II)

Average forward Average forward velocityvelocity

Hoe unit workingHoe unit workingwidth at 50 cm row widthwidth at 50 cm row width

Treated area at Treated area at 50 cm row width50 cm row width

[km/h][km/h] [cm][cm] [%][%]2.02.0 40.4 - 41.540.4 - 41.5 81 - 8381 - 83

4.34.3 33.8 - 39.933.8 - 39.9 68 - 7968 - 79

Resultater (min. - max.):Resultater (min. - max.):

Page 19: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

ConlusionsConlusions

Basis for automatic og unmanned hoeing within crop rowsBasis for automatic og unmanned hoeing within crop rows

Automatic og unmanned row guidance worksAutomatic og unmanned row guidance works

Obtained precision similar to other row guidance technologyObtained precision similar to other row guidance technology

Possibility of several treatments without increase in working hours/haPossibility of several treatments without increase in working hours/ha

In principle 24 hour operationIn principle 24 hour operation

~ 20% of the field area still requires hand weeding (or band spraying)~ 20% of the field area still requires hand weeding (or band spraying)

Page 20: An automatic weeding robot

THE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITYTHE ROYAL VETERINARY AND AGRICULTURAL UNIVERSITY

Contributors (aut. hoeing between crop rows)Contributors (aut. hoeing between crop rows)

Jaime Soriano Ibarra (MSc student, master thesis)Jaime Soriano Ibarra (MSc student, master thesis)

Hans W. Griepentrog (main supervision, machine design)Hans W. Griepentrog (main supervision, machine design)

Michael Nørremark (software, hardware, field experiments)Michael Nørremark (software, hardware, field experiments)

Jon Nielsen (software, hardware)Jon Nielsen (software, hardware)

Supported by:Supported by: