Complex Systems

(6CS014)

Project Report
Weed control Robot

Student Id : 2059578
Student Name : Dorje Tamang
Group : Group 11

Submitted on : 19-11-2022
Word Count : 2754
Contents
1. Introduction .............................................................................................................. 1
2. Aim and Objectives .................................................................................................. 1
a. Aim ..................................................................................................................... 1
b. Objectives .......................................................................................................... 1
3. Literature Review ..................................................................................................... 2
a. weeding robot in organic farming ....................................................................... 2
3.1.1 Harmful effects of weeds ................................................................................. 2
3.1.2 Advantage of Robot technology ...................................................................... 2
3.1.3 Future Plan of Autonomous weed control Robot ............................................ 2
3.2 Methodology for Autonomous robot for removing the weed .................................. 3
3.2.1 Weather........................................................................................................... 3
3.2.2 Image .............................................................................................................. 3
3.3 Detection of Nutsedge weed in Bermudagrass using inaccurate and insufficient
Training data ................................................................................................................ 5
3.3.1 Data augmentation .......................................................................................... 5
3.3.2 Network design and training ............................................................................ 5
3.4 Weed Turtle robot for Paddy Fields ....................................................................... 6
3.4.1 Overview of Weeding turtle robot .................................................................... 6
3.4.2 Development process of weeding turtle .......................................................... 6
3.5 Gesture controlled Wireless weeding robot ........................................................... 8
3.5.1 System Architecture ........................................................................................ 8
3.5.2 Design considerations ..................................................................................... 9
3.6 Autonomous Underwater robot for Monitoring and harvesting weeds ................. 10
3.6.1 Underwater robot navigation ......................................................................... 10
3.6.2 Autonomous Navigation system .................................................................... 11
4. Analysis of Findings ............................................................................................... 12
5. Conclusion ............................................................................................................. 13
6. References ............................................................................................................. 14
 1. Introduction
In Agriculture the production of crops matters the most. If there is less production of crops, there
will be more loss. The common problem for crop production is weed. Weeds are unwanted plants
in particular places. Weeds spread their seed faster than crops and steal the nutrition, water and
space for crops and stop the growing process of crop. Some weeds are very toxic to humans and
lead to health problems.

To solve this problem, weeds need to be removed manually and to remove all weeds there need
a lot of people which means more people, more money. To solve this problem, autonomous weed
removing robots are the best solution. They remove weed automatically and are a lot cheaper
than manual people.

2. Aim and Objectives

a. Aim
I) know about benefit Autonomous weed robot
II) know process of removing weed by Autonomous weed robot
III) know type of Autonomous weed robot
IV) know development process of weed robot

b. Objectives
I) To learn about Methodology of Autonomous weed robot
II) To learn about underwater Autonomous weed robot and turtle weed robot
III) To learn about Material used in Autonomous weed robot

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 3. Literature Review
a. weeding robot in organic farming

3.1.1 Harmful effects of weeds

In Agriculture Weed is a one of greater threat to farmers and land. Weeds eat space, water and
nutrients. Therefore weed spreads and destroys production of yield. According to a report, 5%
and 25 % loss face in developed and developing countries respectively. In India, the loss suffered
from weed is more than the loss from pests and diseases. In weed, there are some weeds which
release toxic substances onto the soil and destroy the crop plants. Weed also can lead to health
problems for human beings.

(R. Raffik, 2021)

3.1.2 Advantage of Robot technology

Robotics technology is used to remove the weeds and provide opportunities to sustainability
agriculture and reduce the environment impact. The robotic technology is cheaper than the
traditional methods of removing weed by people. The robotic technology used will decrease the
use of chemicals. Robots are monitored and operated from mobile applications and increase
efficiency of robots by adding more features. Such Robotics technology is called the Autonomous
Weeding robot.

(R. Raffik, 2021)

3.1.3 Future Plan of Autonomous weed control Robot

In future, robots can be used as permanent solutions to weed removal. Today Autonomous weed
control needs the person to control the robot. But future Autonomous weed control robots used
image processing techniques to spot and locate weeds from the farm and remove the weed by
using the gripper with arrow design. Future autonomous robots will also use artificial intelligence
and depend on the application. The autonomous robot also uses LIDAR to overcome obstacle
detection and avoidance.

(R. Raffik, 2021)

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3.2 Methodology for Autonomous robot for removing the weed
The use of robots is not a new idea. The current understanding robot has the intelligence to make
independent decisions and operate in the environment without full human control. For these
intelligent robots, there are methods and methodology which are followed by Autonomous robots.
The method and methodology which Autonomous weed controlling robot are as follow

(G. Komitov, 2022)

3.2.1 Weather
Weather is very important for weed controlling autonomous robots because weather
affects the movement of weeds controlling robots. In Storms and strong wind, robots
should not move to processing sites. Robots get the data of weather from various sensors
like sensors measure humidity, atmospheric pressure, altitude, air temperature and air
quality.

(G. Komitov, 2022)

Figure 1 humidity view

3.2.2 Image
Weed controlling robots take the image of weed and crop. From image Artificial intelligence of
robots identify the weed and crop. Artificial intelligence processed the image and used the
algorithm and database knowledge to identify the weed. Depending on the size of the weed, the
robot will take a different approach to remove the weed. The camera is put in low resolution of
1.3 Mp for taking the image.

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 (G. Komitov, 2022)

Figure 2 Image of weed separation

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3.3 Detection of Nutsedge weed in Bermudagrass using inaccurate
and insufficient Training data

3.3.1 Data augmentation

The data augmentation is the image synthesis algorithm to generate high-fidelity dataset from
collected images. The image is synthetic by composing the foreground and background of the
image. The image synthesis algorithm provides the labels for nutsedge template based on human
training. The labeling the image help to minimize the human labeling effort, increasing the training
dataset and provide precise pixel level labels

Figure 3 Using Nutsedge to detect the weed

(S. Xie, 2021)

3.3.2 Network design and training

After synthesizing the image and labeling the image, then Mask R-CNN will binary mask and
branch segments the image by assigning each pixel to a class. The assignment of each pixel is
done with the help of Nutsedge skeleton-based Probabilistic Map generation design. This design
checks distance from nutsedge growth to edges for plant recognition. The purpose of checking
distance from nutsedge growth to edges for plant recognition is to differentiate the central leaf
midrib of the nutsedge.
(S. Xie, 2021)

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3.4 Weed Turtle robot for Paddy Fields

3.4.1 Overview of Weeding turtle robot

Weeding turtle robot is for paddy fields. The Target paddy Field for turtle robots is rice paddy field.
The typical rice paddy field will be a field where rice distance between is 20 to 25 cm. The water
depth of the rice paddy field should be 3 to 5 cm. This type of field is necessary because rice
growth depends on the time of day. Weeding turtle robot size about 150 mm * 150 mm * 150 mm
so that it can walk or swim in water. Weeding turtle is moved through the motor and the fin parts
are hard so that it can work efficiently. Weeding turtle motor is an SG90 servo motor which is
controlled by microcomputer and power supply by battery with 3.7V and 400 mAh. Weeding turtles
use Bluetooth communication for signal control.

(I. Nakamura, 2021)

3.4.2 Development process of weeding turtle

Body design : In Weeding Turtle robots are three types. First one which is designed to walk on
land. This weeding turtle robot does not need the waterproof mechanism and circuit to work.
Robots can move forward, backward, left and right on land. Second type Weeding turtle robot
which is designed with a waterproof mechanism. The waterproof mechanism which was made by
inserting a rectangular case. Last Weeding turtle is an improved version of the second one. Last
weeding turtle waterproof mechanism is changed into cylinder shape.
(I. Nakamura, 2021)

Figure 4 Airframe of third type turtle robot

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Fin Parts : The Fin parts are created in three models. They are created in the lower surface
carving model, upper surface model and double surface model. Fin of lower surface emphasis
stabilizing the attitude. Fin of the upper surface emphasis on the soil stirring action. Fin of the
double sided emphasis feature of both upper and lower carving models.

(I. Nakamura, 2021)

Waterproof Mechanism : turtle weeding robot has four type waterproof Mechanism. Type A and
Type B waterproof mechanisms are rectangular and open and closed by inserting the stopper
directly. Type C and Type D waterproof mechanisms are cylindrical and opened by rotating the
stopper and rubber sheet for waterproof packing.

(I. Nakamura, 2021)

Figure 5 Waterproof Mechanism

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3.5 Gesture controlled Wireless weeding robot
In today's world, there are a lot of technological innovations to reform and create new technologies
based on automation with high performance and less time -consuming. This new robot is
replacing human workers. In the Agriculture sector human workers are decreasing therefore these
robots are used as human workers to increase the productivity of land. Gesture controlled
weeding robot is also the robot which is used in the agriculture sector for removing the weed.
Gesture controlled weeding robot has a corresponding DC motor and arm which is mounted on
the bluetooth rover. Bluetooth rover is connected by android application. This robot is very helpful
and affordable to farmers than other weed control robots.

(S. Gokul, 2019)

3.5.1 System Architecture

The system of gesture controlled weeding robots has a four degree of freedom robotic arm with
two claws which are known as grippers. Gesture controlled weeding robot has flex sensor, Flex
sensor sends signal to transmitter. Arduino is used for an easy interface. The arm of the gesture
controlled weed robot is about 10m and the bottom half is controlled by Bluetooth.

The rover controlled 12v DC motors. The wheel of the robot is well equipped with grip. The main
program controller is an Arduino which has an ATmega328 Microcontroller. Each wheel is driven
by a separate motor. Bluetooth controlled rover used as model for communication. Bluetooth
application in android used as a joystick to control robots. The movement of the arm is learned
by doing particular movements through hand gestures and repeating until the next command.
Robot can be a multipurpose robot because it can be used for sowing.

(S. Gokul, 2019)

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Figure 6 Flow chart of wireless control

3.5.2 Design considerations

The robot in agriculture cannot run with less power supply on uneven ground. The robot needs to
be lighter and can sustain itself in the environment. Arm of the robot should set a prescribed
action and run the command with the razor in the same direction until the next command is
received. Robot gesture is achieved by using the accelerometer and flex sensor. The sensors,
controller and transmitter should be fixed on the wearable hand glove.

(S. Gokul, 2019)

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Figure 7 side view (gripper claws)

3.6 Autonomous Underwater robot for Monitoring and harvesting

weeds
The spread of weed in water lakes is a common problem threatening their livelihood. This weed
has a greater impact on the economy and environment because it will decline tourism and
decrease the daily fresh water supply. To remove weed in water they use physical, biological
and chemical methods. The most effective way is to use the autonomous underwater robot.

3.6.1 Underwater robot navigation

The autonomous underwater robot has great potential but there are some challenges. One of the
main challenges is underwater navigation. Compared with terrestrial navigation, underwater
navigation has no GPS. Therefore a unique sensor is needed to identify the environment. In
underwater navigation commonly used are radio signals or electromagnetic signals. This signal
has long range sensing or communication. Factors like long range, multipath, reverberation and
other physical effects affect the signal. The underwater weed robot uses the AUR navigation.
AUR navigation uses the long baseline and ultrashort baseline system for effective position
systems. It helps increase the adaptation of SLAM technique on underwater robots which has
accurate navigation of AUV with less cost.

(D. Modungwa, 2021)

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3.6.2 Autonomous Navigation system
Autonomous navigation system consists of the magnetic compass, pressure depth sensor, Inertial
Navigation and Doppler velocity log. Autonomous navigation systems send the Acoustic waves
to modality of choice for propagating signals at long range underwater. The thing which include
localization techniques of Autonomous navigation system are as follow:

Inertial /Dead reckoning : use accelerometer and gyroscopes for increasing the accuracy of
position and orientation of the robotic platform with its environment.

Acoustic transponders : Measure the time of flight (TOF) of signal from beacons or modems to
perform navigation.

Geophysical : It included sensors and processing capabilities for detection, identification and
classification of features within the robot platform environment.

Cooperative : In cooperative multiple robots exchange information to navigate.

(D. Modungwa, 2021)

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4. Analysis of Findings

Above literature review provides a lot of information about autonomous weed control
robots. The finding and analysis of literature are as follow :

I) Finding 1 : Weeds are very harmful to crops by eating space, water and nutrients. To
solve the problem of weed, autonomous robots are the best solution because they are a
lot cheaper than human workers. The future weed robot will use artificial intelligence and
a high image processor for locating the weed and removing it.

II) Finding 2 : There are a lot of methods in Autonomous robots. Among them
Movement, weather and image are important methodology. Movement methodology is
tor movement of robots, weather methodology means predicting the weather and taking
care of the plant and robot sensor and image help to identify the weed from crop.

III) Finding 3 : To find the weed or separating weed from crop need the data from the
image. The image process in foreground and background and find weed patterns and
label it. Each label checks the length of nudesedge to edges. After checking the length
and all data from the network. If the outcome is weed then action of removing the weed
takes place.

IV) Finding 4 : Turtle weed robot is for removing weed from Paddy fields. Turtle weed
robot has a type which walks on Paddy fields or floats on paddy fields. Turtle weed robot
has fin and waterproof mechanism. Turtle weed robot is test on 300mm * 460mm *
150mm paddy field.

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 V) Finding 5 : Gesture weeding robot is the weed control robot which has one arm for
removing the weed and wireless control. Gesture weeding robots can also be used for
other agriculture activities by changing its arm. Gesture weeding robots use bluetooth
connection to control the movement of gesture weeding robots.

VI) Finding 6 : Underwater weeds are harmful to the economy and environment. To
remove the underwater weed, underwater weed control robots are in development. This
robot needs underwater navigation because GPS cannot tell the position of the robot.
For navigation, Robot used an Autonomous Navigation system which consisted of
magnetic compass, pressure sensor and inertial Navigation.

5. Conclusion
In agriculture, weed is one of the greatest problems for farmers because it reduces the
production of crops by eating space, water and nutrients. To remove the weed from the farm,
an autonomous weed control robot is the best option for removing weed. Autonomous robots
are cheaper than human workers. Autonomous robots have many sensors. This sensor
determines weather conditions so that Autonomous robots can protect from weather and crop.
Autonomous robots use image processing to separate weeds from crops. There are different
autonomous robots like turtle robot for paddy field and underwater robot for underwater. Weed
control robots are very helpful to the economy and environment. For example underwater
weed control robots remove the weed from water and clean the lake and pond and encourage
the tourism industry and weed control robots also increase production by removing weed.
Therefore weed control robots may play an important role in the environment, agriculture and
economy.

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 6. References
D. Modungwa, F. M. a. M. K., 2021. Conceptual Development of an Autonomous
Underwater Robot Design for Monitoring and Harvesting Invasive Weeds.

G. Komitov, I. M. V. K. a. I. I., 2022. About the methodology for working a robot to

destroy weeds,.

I. Nakamura, T. K. a. H. O., 2021. Development of Weeding Turtle Robot for Paddy

Fields.

Mechatronics Engineering, Kumaraguru College of Technology, 2021. Autonomous

Weeding Robot for Organic Farming Fields.

R. Raffik, S. M. J. H. D. A. R. T. a. S. D. K., 2021. Autonomous Weeding Robot for

Organic Farming Fields,.

S. Gokul, R. D. S. A. S. a. M. G., 2019. Gesture Controlled Wireless Agricultural

Weeding Robot,.

S. Xie, C. H. M. B. a. D. S., 2021. "Toward Robotic Weed Control: Detection of

Nutsedge Weed in Bermudagrass Turf Using Inaccurate and Insufficient Training
Data,".

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