Machine vision based weeding robot system and method thereof

Abstract

The invention discloses a machine vision based weeding robot system and a method thereof. The system comprises a robot moving platform, a field navigation device, a field grass identifying device, a weeding device and a robot control system; wherein the robot moving platform is used for executing advancing action of the robot system in the field; the field navigation device is used for acquiring navigation parameter required by movement of the robot system and sending the parameter to the robot control system; the field grass identifying device is used for acquiring field grass image information, identifying grass according to the field grass image information, obtaining identification data, calculating grass body coordinates and grass interval and sending the grass body coordinates and grass interval to the robot control system; the weeding device is used for executing weeding action; and the robot control system is used for controlling the robot moving platform to execute advancing action in the field according to the received navigation parameter and controlling the weeding device to execute weeding action according to the grass body coordinates and grass interval. The invention can realize rapid and accurate weeding operation on crop in the field.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a field weeding robot system and method based on machine vision technology for rare crops. Background technique [0002] Farmland weeds are an integral part of the agricultural ecosystem. According to statistics in 2002, the area of ​​farmland weeds in China was 1.133 billion mu. Among them, the density of weeds in the vegetable field can reach up to 3000 plants / m 2 Above, generally 500 plants / m 2 About, the few also reach 50-100 plants / m 2 . Sparsely planted vegetables such as cauliflower, cabbage, lettuce, etc., due to the large area of ​​bare land, the density of weeds is high and the damage is more serious. [0003] The commonly used weeding methods are chemical weeding and manual weeding. The area of ​​chemical weeding in my country has exceeded 1.2 billion mu, and the annual consumption of herbicides is 100,000-120,000 tons, accounting for 30%-40% of the amount of pesti...

AI Technical Summary

Problems solved by technology

[0004] The mechanical weeding technology that replaces the chemical weeding technology can greatly improve work efficiency, but most of the existing weeding mechanical devices are mainly weeding between rows, and a very small number of weeding mechanical devices with the function of weeding between seedlings also cause damage to seedlings. Due to the high rate of weeding and low weeding efficiency, it has not been widely used and is still in the experimental research stage.

Images