Toward Precise Robotic Weed Flaming Using a Mobile Manipulator with a Flamethrower
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2024
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866914859930615808 |
|---|---|
| author | Wang, Di Hu, Chengsong Xie, Shuangyu Johnson, Joe Ji, Hojun Jiang, Yingtao Bagavathiannan, Muthukumar Song, Dezhen |
| author_facet | Wang, Di Hu, Chengsong Xie, Shuangyu Johnson, Joe Ji, Hojun Jiang, Yingtao Bagavathiannan, Muthukumar Song, Dezhen |
| contents | Robotic weed flaming is a new and environmentally friendly approach to weed removal in the agricultural field. Using a mobile manipulator equipped with a flamethrower, we design a new system and algorithm to enable effective weed flaming, which requires robotic manipulation with a soft and deformable end effector, as the thermal coverage of the flame is affected by dynamic or unknown environmental factors such as gravity, wind, atmospheric pressure, fuel tank pressure, and pose of the nozzle. System development includes overall design, hardware integration, and software pipeline. To enable precise weed removal, the greatest challenge is to detect and predict dynamic flame coverage in real time before motion planning, which is quite different from a conventional rigid gripper in grasping or a spray gun in painting. Based on the images from two onboard infrared cameras and the pose information of the flamethrower nozzle on a mobile manipulator, we propose a new dynamic flame coverage model. The flame model uses a center-arc curve with a Gaussian cross-section model to describe the flame coverage in real time. The experiments have demonstrated the working system and shown that our model and algorithm can achieve a mean average precision (mAP) of more than 76\% in the reprojected images during online prediction. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_04929 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Toward Precise Robotic Weed Flaming Using a Mobile Manipulator with a Flamethrower Wang, Di Hu, Chengsong Xie, Shuangyu Johnson, Joe Ji, Hojun Jiang, Yingtao Bagavathiannan, Muthukumar Song, Dezhen Robotics Robotic weed flaming is a new and environmentally friendly approach to weed removal in the agricultural field. Using a mobile manipulator equipped with a flamethrower, we design a new system and algorithm to enable effective weed flaming, which requires robotic manipulation with a soft and deformable end effector, as the thermal coverage of the flame is affected by dynamic or unknown environmental factors such as gravity, wind, atmospheric pressure, fuel tank pressure, and pose of the nozzle. System development includes overall design, hardware integration, and software pipeline. To enable precise weed removal, the greatest challenge is to detect and predict dynamic flame coverage in real time before motion planning, which is quite different from a conventional rigid gripper in grasping or a spray gun in painting. Based on the images from two onboard infrared cameras and the pose information of the flamethrower nozzle on a mobile manipulator, we propose a new dynamic flame coverage model. The flame model uses a center-arc curve with a Gaussian cross-section model to describe the flame coverage in real time. The experiments have demonstrated the working system and shown that our model and algorithm can achieve a mean average precision (mAP) of more than 76\% in the reprojected images during online prediction. |
| title | Toward Precise Robotic Weed Flaming Using a Mobile Manipulator with a Flamethrower |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.04929 |