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Design and Experimental Validation of a Weeding Device Integrating Weed Stem Damage and Targeted Herbicide Application

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Titel: Design and Experimental Validation of a Weeding Device Integrating Weed Stem Damage and Targeted Herbicide Application
Autoren: He Li, Chenxu Li, Jiajun Chai, Lele Wang, Zishang Yang, Yechao Yuan, Shangshang Cheng
Quelle: Agronomy ; Volume 16 ; Issue 2 ; Pages: 151
Verlagsinformationen: Multidisciplinary Digital Publishing Institute
Publikationsjahr: 2026
Bestand: MDPI Open Access Publishing
Schlagwörter: precise weeding, wounding weeding, end effector, parallel manipulator, genetic algorithm optimization
Geographisches Schlagwort: agris
Beschreibung: In view of the problems of high weed regeneration rate in traditional mechanical weeding and environmental risk in chemical weeding, a synergetic strategy of “mechanical damage + wound spraying mechanism” was proposed, and an intelligent weeding device combining synchronous cutting and spraying was designed to enhance the efficacy of herbicides and reduce their use. Focusing on the physical characteristics of weeds and the cutting mechanism, the analysis of the weed-cutting system and the force characteristics of the cutting tool were conducted. Key factors affecting cutting quality were identified, and their respective value ranges were determined. A targeted spraying system was developed, featuring a conical nozzle, DC diaphragm pump, and electromagnetic control valve. The Delta parallel manipulator, equipped with both the cutting tool and nozzle, was designed, and a kinematic model was established for both its forward and inverse movements. Genetic algorithms were applied to optimize structural parameters, aiming to ensure effective coverage of typical weed distribution areas within the working space. A simulated environment measurement was built to verify the motion accuracy of the manipulator. Field experiments demonstrated that the equipment achieved an 81.5% wound weeding rate on malignant weeds in the seedling stage at an operating speed of 0.6 m/s, with a seedling injury rate below 5%. These results validate the high efficiency of the integrated mechanical cutting and targeted spraying system, offering a reliable technical solution for green and intelligent weed control in agriculture. This study fills the blank of only focusing on recognition accuracy or weeding rate under a single weeding method, but lacks a cooperative weeding operation.
Publikationsart: text
Dateibeschreibung: application/pdf
Sprache: English
Relation: Pest and Disease Management; https://dx.doi.org/10.3390/agronomy16020151
DOI: 10.3390/agronomy16020151
Verfügbarkeit: https://doi.org/10.3390/agronomy16020151
Rights: https://creativecommons.org/licenses/by/4.0/
Dokumentencode: edsbas.9928FFBB
Datenbank: BASE
Beschreibung
Abstract:In view of the problems of high weed regeneration rate in traditional mechanical weeding and environmental risk in chemical weeding, a synergetic strategy of “mechanical damage + wound spraying mechanism” was proposed, and an intelligent weeding device combining synchronous cutting and spraying was designed to enhance the efficacy of herbicides and reduce their use. Focusing on the physical characteristics of weeds and the cutting mechanism, the analysis of the weed-cutting system and the force characteristics of the cutting tool were conducted. Key factors affecting cutting quality were identified, and their respective value ranges were determined. A targeted spraying system was developed, featuring a conical nozzle, DC diaphragm pump, and electromagnetic control valve. The Delta parallel manipulator, equipped with both the cutting tool and nozzle, was designed, and a kinematic model was established for both its forward and inverse movements. Genetic algorithms were applied to optimize structural parameters, aiming to ensure effective coverage of typical weed distribution areas within the working space. A simulated environment measurement was built to verify the motion accuracy of the manipulator. Field experiments demonstrated that the equipment achieved an 81.5% wound weeding rate on malignant weeds in the seedling stage at an operating speed of 0.6 m/s, with a seedling injury rate below 5%. These results validate the high efficiency of the integrated mechanical cutting and targeted spraying system, offering a reliable technical solution for green and intelligent weed control in agriculture. This study fills the blank of only focusing on recognition accuracy or weeding rate under a single weeding method, but lacks a cooperative weeding operation.
DOI:10.3390/agronomy16020151