Design and Testing of a Vision-Based, Electrically Actuated, Row-Guided Inter-Row Cultivator

Abstract

Modern weeding technologies include chemical weeding, non-contact methods such as laser weeding, and conventional mechanical inter-row cultivation characterized by soil loosening and weed uprooting. For maize, mechanical inter-row cultivation is key to cutting herbicide use and enhancing the soil–crop environment. This study developed a vision-guided intelligent inter-row cultivator with electric lateral shifting—its frame fabricated from Q235 low-carbon structural steel and assembled mainly via bolted and pinned joints—that computes real-time lateral deviation between the implement and crop rows through maize plant recognition and crop row fitting and uses delay compensation to command a servo-electric cylinder for precise ±15 cm inter-row adjustments corresponding to 30% of the 50 cm row spacing. To test the system’s dynamic response, 1–15 cm-commanded lateral displacements were evaluated at 0.31, 0.42, and 0.51 m/s to characterize the time-displacement response of the servo-electric shift mechanism; field tests were conducted at 0.51 m/s with three 30 m passes per maize growth stage to collect row-guidance error and root-injury data. Field results show that at an initial offset of 5 cm, the mean absolute error is 0.76–1.03 cm, and at 15 cm, the 95th percentile error is 7.5 cm. A root damage quantification method based on geometric overlap arc length was established, with rates rising with crop growth: 0.12% at the V2 to V3 stage, 1.46% at the V4 to V5 stage, and 9.61% at the V6 to V8 stage, making the V4 to V5 stage the optimal operating window. Compared with chemical weeding, the system requires no herbicide application, avoiding issues related to residues, drift, and resistance management. Compared with laser weeding, which requires high tool power density and has limited effective width, the tractor–implement system enables full-width weeding and shallow inter-row tillage in one pass, facilitating integration with existing mechanized operations. These results, obtained at a single forward speed of 0.51 m/s in one field and implement configuration, still require validation under higher speeds and broader field conditions; within this scope they support improving the precision of maize mechanical inter-row cultivation.

Affiliated Institutions

• Shenyang Agricultural University CN
• Beijing Academy of Agricultural and Forestry Sciences CN
• National Engineering Research Center for Information Technology in Agriculture CN

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