Robotic Weed Control Mark C. Siemens University of Arizona Yuma Agricultural Center Yuma, AZ
CWSS 66th Annual Conference, January 23, 2014
Inter‐row
Intra‐row
Weed Zones
Close to crop
Robotic Intra‐Row Weeders • Commercialized – 2008 • Mechanical – Oscillating and rotating blades
• Flaming – Cycling plasma jets
• Spray – Intermittent spot spray
Image Processing and Plant Selection
Image Processing and Plant Selection
Image Processing and Plant Selection
Image Processing and Plant Selection
Image Processing and Plant Selection
Image Processing and Plant Selection
Image Processing and Plant Selection
Desired Spacing
Desired Spacing
Image Processing and Plant Selection
Tillet‐Hague Weeder “Robocrop” ‐ Garford Corp., Peterborough, EN
Cultivating disc assembly
Cultivating disc motion
Robocrop Evaluation • Weed densities, weeding times decreased • Transplanted crops ‐ adequate – Yield, net returns similar
• Direct seeded crops – not recommended – Stand decreased – Yield and net returns lower Fennimore et al. (2014)
IC Cultivator Stekettee, Haringvleit, Netherlands
• • • • • •
2013 ‐ Europe 2014 ‐ North America Limited # units 3‐4 plants/sec (2‐2.5 mph) $100,000 for 6 row Northern Equipment Solutions, Canada
IC Cultivator Stekettee, Haringvleit, Netherlands
• •
$125,000 for 5 row No U.S. distributor
Robovator (F. Poulsen Engineering ApS., Hvalsø DK)
• •
2014 ‐ North America $112,000 for 5 row
Automatic Weeder (Veda Farming Solutions, Salinas, CA)
Research Topics: • Weed control efficacy • Soil types – hard soils? • Crop injury • Crop yield
Flame Weeder (F. Poulsen Engineering ApS., Hvalsø DK)
Flame Weeder (F. Poulsen Engineering ApS., Hvalsø DK)
Selective Spot Spraying • Investigated since mid 1990’s • None commercially available
Blasco et al. (2002)
Crop vs Weed Classification Accuracy ~ 85%
Successful Robotic Sprayes • Automated thinning machines • Identify crop plants only – not weeds • Spray everything except crop
Machine Vision and Computer Control System Electronics Box
Controlled Lighting Chamber
Hooded Sprayer
U of A Automated Thinner Prototype (2010) Project Funded in Part by Arizona Specialty Crop Block Grant Program
Ramsay Highlander/Foothills Packing
Blue River Technologies
Vision Robotics
Agmectronix
Automated Thinning Machines
Intra‐Row Weeder
Intra‐Row Weeder
Intra‐Row Thin
Intra‐Row Thin and Band Spray
Intra‐Row Weed
Intra‐Row Weed and Band Spray
Weed and Spot Spray
Weed and Spot Spray
Thinning Machines as Weeders • “Weed” closely spaced plants • How well???
Automated Thinner Trials (2011)
12 % (88% control) 12 % (88% control)
Automated Thinner Trials (2011)
8 % (92% control)
Automated Thinner Trials (2011)
Thinning Machines as Weeders • Viable alternative? • Further research needed
U of A Thinner/Weeder/Spot Sprayer – Gen III
U of A Thinner/Weeder/Spot Sprayer – Gen III
Thank You
Intra‐row Weeding Robots Robocrop Solex Corporation Steketee IC Cultivator
[email protected] Robovator
[email protected] Automatic Weeder Veda Farming Solutions, Salinas Flame weeders
[email protected]
Automated Thinners Ramsay Highlander Inc.
[email protected] Agmechtronix LLC
[email protected] Blue River Technologies Inc.
[email protected] Vision Robotics Corp.
[email protected]
Robotic Weeding ‐ On the Horizon
