Precision harrowing with a flexible tine harrow and an ultrasonic sensor

摘要

The challenge of weed harrowing is to obtain a high degree of weed control without producing considerable crop damage as a result of harrowing. Non-chemical weed control methods need to be directed towards a site-specific weeding approach, in order tocompete with conventional herbicide applications. In this study, an online automatic harrowing system is presented. Automatic adjustment of a harrow is achieved by increasing the tine angle relative to the field surface, attaining increasingly more aggressive intensity levels. Decision making of the intensity to be used is based on assessments of crop development and weed density. Sensor measurements of crop and weed conditions were obtained prior to the actual harrowing application. In the current approach, the system aims to achieve weed detection and treatment application in one operation. The time constraints and effectiveness of the system were also examined.