自动 机器人
RESEARCHESONAU‘r0NOMOUSROBOTFOR
WEEDCONTROLAND
SMARTSPRjⅣSYSTEMBASED0NVARIABLERATETECHNOLOGY
YongChen
NanjingForestry
University
Agriculturehasbeendevelopingforthousandsofyears,fromancientstyle
tO
modem
stylewithgiantmachinery,andthentoprecisionagriculture.Withthe
increaseof
population,we
are
running
out
ofnaturalresources.Atthesametime,theenvironment
deterioratesterribly.Precisionagricultureandprecisionforestry
are
the
best
solutionto
theseproblems.Formorethan20years,precisionagriculturehasbeenstudiedallover
theworldandhasbrought
us
manypositiveresults,indicatingbenefitfuture.Inthispaper,
therecentdevelopmentofprecisionagriculture,especially,theVRTandprecisionchemicalapplication,WaSdiscussed.
Inordertominimizetheherbicidedosageanddropletdrift,adirectherbicide
deliveringmethodwasfirstlysuggestedinthisresearch.Herbicidewasmoppedontotheweedssurface,aftertheweedswerecut.Chemicalexperimentsbothinfieldandin
greenhouseshowedthat
about90%herbicidecouldbesavedusingthismethod.Ifthe
spatialdistributionwasconsideredinfield.around96.4%herbicidecouldbesaved.
Anautonomousrobotfor
weed
controlwasdevelopedinthisresearch,which
consistedof
a
digitalcamera,acomputer,aroboticarm,awalkingsystem,a
chemical
deliveringsystem,arobotbodyandetc.Afterweedswereidentifiedinthefieldbythe
machinevisionsystem,theroboticarmcouldreach
out,cut
weedsandmopchemical
onto
their
cut
surfaces.
A
robot
end—effector
with
high
efficiencyand
stabilitywas
developed.ne
end.effectorcuttheweedsand
moppedchemical
onto
thecutsurface.
Experimentsshowedthattheimageprocessingandrobot—controllingprogram
writteninVC++couldidentifyweedsfromfieldbackgroundcorrectlyandcontrolthe
robotic
alTn
precisely.Machine
vision
andimageprocessingtechniques
havewideapplicationsinindustry,
as
wetl
as
inagriculture.Theauthordeveloped
a
smartpestieidespraysystemfortrees
based
on
machinevisionandfuzzycontr01.After
a
treecanopyandthedistance
between
thetreeandthenozzlesweremeasuredandintegrated,thetreesizecouldbe
judged
by
fuzzyreasoninganddecision—making.n圯systemcouldapplypesticideaccording
to
differenttreesizeswithdifferentnozzlesandwithvariableflowrateandnozzlespraying