Design and operation of a Peucedani Radix weeding device based on YOLOV5 and a parallel manipulator

Frontiers in Plant Science

Plant Science

Chengmao Cao¹  Xuechen Zhang¹  Minhui An¹  Kuan Qin¹  Wang Xiang¹  Kun Luo¹  Wuyang Ding¹  Zhengmin Wu² 

[1] School of Engineering, Anhui Agricultural University, Hefei, China;School of Tea and Food Science and Technology, Anhui Agricultural University, Hefei, China;State Key Laboratory of Tea Plant Biology and Utilization, Hefei, China;

关键词: Peucedani Radix;    YOLOv5;    trajectory planning;    precision weeding;    parallel manipulator;   

DOI  :  10.3389/fpls.2023.1171737

 received in 2023-02-22, accepted in 2023-04-26,  发布年份 2023

来源: Frontiers

【 摘 要 】

To avoid excessive use of herbicides in the weeding operations of Peucedani Radix, a common Chinese herb, a precision seedling avoidance and weeding agricultural robot was designed for the targeted spraying of herbicides. The robot uses YOLOV5 combined with ExG feature segmentation to detect Peucedani Radix and weeds and obtain their corresponding morphological centers. Optimal seedling avoidance and precise herbicide spraying trajectories are generated using a PSO-Bezier algorithm based on the morphological characteristics of Peucedani Radix. Seedling avoidance trajectories and spraying operations are executed using a parallel manipulator with spraying devices. The validation experiments showed that the precision and recall of Peucedani Radix detection were 98.7% and 88.2%, respectively, and the weed segmentation rate could reach 95% when the minimum connected domain was 50. In the actual Peucedani Radix field spraying operation, the success rate of field precision seedling avoidance herbicide spraying was 80.5%, the collision rate between the end actuator of the parallel manipulator and Peucedani Radix was 4%, and the average running time of the parallel manipulator for precision herbicide spraying on a single weed was 2 s. This study can enrich the theoretical basis of targeted weed control and provide reference for similar studies.

【 授权许可】

Unknown   
Copyright © 2023 Zhang, Cao, Luo, Wu, Qin, An, Ding and Xiang