A method of real-time plant selection and removal from a plant field including capturing a first image of a first section of the plant field, segmenting the first image into regions indicative of individual plants within the first section, selecting the optimal plants for retention from the first image based on the first image and the previously thinned plant field sections, sending instructions to the plant removal mechanism for removal of the plants corresponding to the unselected regions of the first image from the second section before the machine passes the unselected regions, and repeating the aforementioned steps for a second section of the plant field adjacent the first section in the direction of machine travel.

A benthic barrier in which a polygonal shaped mat having straight sides is mounted on a similarly polygonal frame, but in which the frame sides bow out slightly between corners, causing the mat to stretch slightly and become taut. The frame comprises a plurality of straight leg members and a number of corner members as required by said polygonal shape. The corner members encompass interior angles which are from about 1 to about 5 degrees greater than the interior angle of the polygon defined by the straight sides of the mat. The frame member legs are rigid, but slightly flexible such that when assembled into the mat as an assembled frame, the straight legs are forced to bow out slightly between the corners, pulling the mat taut.

A benthic barrier in which a polygonal shaped mat having straight sides is mounted on a similarly polygonal frame, but in which the frame sides bow out slightly between corners, causing the mat to stretch slightly and become taut. The frame comprises a plurality of straight leg members and a number of corner members as required by said polygonal shape. The corner members encompass interior angles which are from about 1 to about 5 degrees greater than the interior angle of the polygon defined by the straight sides of the mat. The frame member legs are rigid, but slightly flexible such that when assembled into the mat as an assembled frame, the straight legs are forced to bow out slightly between the corners, pulling the mat taut.

An agricultural machine system for performing agricultural tasks in a field on which plants are planted or will be planted in a pattern, the system comprising: a prime mover; a tool bar connected to the prime mover; a plurality of units attached to the tool bar, the units configured to perform at least one agricultural tasks and wherein at least two of the units are disposed in an offset relationship from each other with respect to a forward direction of travel of the agricultural machine about the tool bar; and a control unit in communication with the prime mover and the plurality of units, the control unit configured to determine a selective location corresponding to the pattern in which plants are planted or will be planted and activate the units at the selective location to perform the at least one agricultural task as the agricultural machine system travels along a plurality of rows.

An agricultural machine system for performing agricultural tasks in a field on which plants are planted or will be planted in a pattern, the system comprising: a prime mover; a tool bar connected to the prime mover; a plurality of units attached to the tool bar, the units configured to perform at least one agricultural tasks and wherein at least two of the units are disposed in an offset relationship from each other with respect to a forward direction of travel of the agricultural machine about the tool bar; and a control unit in communication with the prime mover and the plurality of units, the control unit configured to determine a selective location corresponding to the pattern in which plants are planted or will be planted and activate the units at the selective location to perform the at least one agricultural task as the agricultural machine system travels along a plurality of rows.

An obstacle recognition method includes determining a candidate obstacle region in a candidate weeding region image according to color information of the candidate weeding region image; obtaining contour information of the candidate obstacle region, wherein the contour information includes chrominance information, range information, and roughness information; and determining, according to preset contour information determination conditions and the contour information, whether there is an obstacle in the candidate weeding region image. A related obstacle recognition apparatus, an electronic device, a computer-readable storage medium, and a weeding robot are also disclosed.

An obstacle recognition method includes determining a candidate obstacle region in a candidate weeding region image according to color information of the candidate weeding region image; obtaining contour information of the candidate obstacle region, wherein the contour information includes chrominance information, range information, and roughness information; and determining, according to preset contour information determination conditions and the contour information, whether there is an obstacle in the candidate weeding region image. A related obstacle recognition apparatus, an electronic device, a computer-readable storage medium, and a weeding robot are also disclosed.

The invention relates to a robotic weeding equipment (10) for agriculture robotic weeding system (100), comprising: a plant squeezer (12) for squeezing cultivated plants (80), comprising a narrowing end portion (16) and two longitudinal sides (14a, 14b), said two longitudinal sides extending backwards from the narrowing end portion (16) when mounted on the agriculture robotic weeding system (100); a plant squeezer actuator (20) operably connected to the plant squeezer (12) for vertical displacement of the plant squeezer (12) when mounted on the agriculture robotic weeding system (10); an image recognition device (30) for identification of weeds; and a weed treatment processing device (35). The plant squeezer (12) is configured to squeeze two parallel rows of cultivated plants (80) to increase the weeding surface between said two parallel rows of cultivated plants (80). The invention also relates to an agriculture robotic weeding system comprising at least one weeding equipment, preferably three weeding equipment arranged next to each other along a direction perpendicular to the direction of the agriculture robotic weeding system when operating.

An obstacle recognition method includes the steps of obtaining hue information of a candidate weeding region image; generating a target hue histogram of the candidate weeding region image according to the hue information, and obtaining peak information and hue range information of the target hue histogram; and determining whether there are obstacles in the candidate weeding region image according to the peak information and the hue range information. Related apparatus, electronic devices, computer readable storage media, and weeding robots are disclosed.

An obstacle recognition method includes the steps of obtaining hue information of a candidate weeding region image; generating a target hue histogram of the candidate weeding region image according to the hue information, and obtaining peak information and hue range information of the target hue histogram; and determining whether there are obstacles in the candidate weeding region image according to the peak information and the hue range information. Related apparatus, electronic devices, computer readable storage media, and weeding robots are disclosed.