Implementation and test of a multi-functional agricultural robot based on machine vision in nursery

in International Symposium (Abstract oral presentation), 國際研討會(摘要口頭發表)
標題Implementation and test of a multi-functional agricultural robot based on machine vision in nursery
AuthorsChung-Liang Chang, 張仲良, & Kuan-Ming Lin 林冠旻
出版日期Jul 10 2018 12:0

A high-performance farm machine can increase productivity. However, the current design of machine is single-functional and expensive in cost. Farmers have to rent multiple vehicles with different functions to accomplish tasks. Besides, each machine is different in its operation modes, which makes the operation time-consuming and labor-consuming. This paper aims to develop a multi-function intelligent agricultural machine installed with an embedded platform of a machine vision module to identify the location of crop and weed, soil moisture below the machine and perform the weeding, watering, and fertilizing. The platform also includes moisture sensor modules, multiplexing, decision making module, and fuzzy logic inference engine to receive the soil moisture so as to access degree of soil moisture and to define the operation procedures. The image identification scheme based on color space conversion and adaptive threshold selection are utilized to classify the weed, crop, and estimate the soil moisture. The automatic raking weed and watering device are utilized to accomplish weeding, watering, and fertilizing. The experiment results demonstrate that the machine can effectively identify different crops and weeds in outdoor filed, with an identification rate of each crop and make corresponding procedures based on image identification results, with accuracy rate up to 100%. In the future, the proposed machine can be combined with an autonomous agricultural vehicle to perform different farm tasks.

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