Plant specific direct chemical application field robot

Hong Y. Jeon, Lei Tian, Loren Bode, Tony E Grift, Aaron G Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A mobile robot was developed to directly apply chemical to individual weed, plant specific direct chemical application. The robot has a mobile platform equipped with a laptop, a robotic arm with the direct application end effector and a machine vision. The laptop computer and the arm were connected to the robot's microcontroller via a serial interface, and the machine vision was controlled by the computer via IEEE 1394 interface: the machine vision detects weeds and the arm with the end effector eliminates weeds. A C++ program was written to control the robot and its components: the program included an image processing algorithm for the machine vision to detect weeds under variable outdoor illumination, and a robotic arm motion control algorithm to eliminate detected weeds. Detected weeds were eliminated by the end effector via cutting a stem and sweeping chemical on its surface. As a result, the developed robot showed the fully automated processes of plant specific direct chemical application: detecting and eliminating weeds, examining the application results, and executing the re-application. While the robot was testing in the field, the robot was able to detect the plants despite outdoor illumination changes. The robot controlled 63.6 % of the weeds in the field. Developed robot may enlighten the potential to reduce the chemical use, to improve chemical efficiency and to reduce environmental contamination from agrochemical.

Original languageEnglish (US)
Title of host publicationAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2009, ASABE 2009
Pages692-711
Number of pages20
StatePublished - Dec 1 2009
EventAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2009 - Reno, NV, United States
Duration: Jun 21 2009Jun 24 2009

Publication series

NameAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2009, ASABE 2009
Volume2

Other

OtherAmerican Society of Agricultural and Biological Engineers Annual International Meeting 2009
CountryUnited States
CityReno, NV
Period6/21/096/24/09

Keywords

  • Agricultural robot
  • Direct chemical application
  • Machine vision

ASJC Scopus subject areas

  • Agricultural and Biological Sciences(all)

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  • Cite this

    Jeon, H. Y., Tian, L., Bode, L., Grift, T. E., & Hager, A. G. (2009). Plant specific direct chemical application field robot. In American Society of Agricultural and Biological Engineers Annual International Meeting 2009, ASABE 2009 (pp. 692-711). (American Society of Agricultural and Biological Engineers Annual International Meeting 2009, ASABE 2009; Vol. 2).